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《Journal of Beijing Institufe of Petrochemical Technology》 2002-02
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Dynamic Model of Wheeled Mobile Manipulator

Zhang Shuosheng (Department of Automation,Beijing Institute of Petro-chemical Technology, Beijing 102617) Yu Datai (Robotics Research Institute, Beijing University of Science and Technology, Beijing 100083)  
In order to illustrate the interaction between mobile platform and manipulator, the dynamic model of wheeled mobile manipulator is derived using Newton-Euler method. The equation has two features- (1) nonholonomic constraint is included. (2) the interaction between mobile platform and manipulator is represented clearly.
【CateGory Index】: TP242
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