Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of Beijing Institufe of Petrochemical Technology》 2002-02
Add to Favorite Get Latest Update

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
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【References】
Chinese Journal Full-text Database 1 Hits
1 Zhang Yonggui1 Huang Yumei1 Peng Zhongbo2 Gao Feng1 Yao Xiaopeng1 (1. Xi’an University of Technology 2. Chongqing Jiaotong University);Dynamics Analysis of the Wheeled Mobile Manipulator[J];Transactions of the Chinese Society for Agricultural Machinery;2007-10
【Co-citations】
Chinese Journal Full-text Database 10 Hits
1 Xi Wenming 1 Wu Hongtao 1 Luo Xiang 2 Zhu Jianying 1( 1College of Mechanical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China) ( 2Department of Mechanical Engineering, Southeast University, Nanjing 210096;Study of new analytic solution of robotic relative Jacobian matrix[J];Journal of Southeast Univwrsity(Natural Science Edition);2002-04
2 ;The Measure System of Tangent for Space Coordinates[J];Electronic Engineer;2001-04
3 Jiang Weiwei, Jia Jianyuan (School of Electromechanical Engineering, Xidian University, Xian 710071, China);An Electromechanical Simulation of the Three-axis Tracking Device[J];It Age;2005-04
4 Chen Lesheng(Department of Mechanical Engineering, Fuzhou University, Fuzhou, 350002);Lagrange Equations for Coordinate Frame at Center of Mass[J];JOURNAL OF FUZHOU UNIVERSITY(NATURAL SCIENCES EDTION);1999-02
5 Zheng Weimin Cao Tianning Lu Huayun Jiang Shumu Zhu Xiaoqing (State Key Laboratory of Modern Optical lnstruments, Zhejiang University, Hangzhou 310027);CAM system of high gradient precise optical aspheric surface[J];OPTICAL TECHNOLOGY;1997-04
6 FAN Yong sheng, YU Hong ying, PAN Hong xia (Dept. of Mechatronics Engineering, North China Institute of Technology, Taiyuan 030051, China);The Kinematics Analysis of the Ammunition Supplying Mechanism in the Autoloading System of a Self propelled Gun[J];JOURNAL OF NORTH CHINA INSTITUTE OF TECHNOLOGY;1999-03
7 ZOU Ji_gang,ZHANG Jie,ZHANG Rui,LI Wen_xiu;SIMULATION MODEL OF CARRIER CRANE[J];Journal of Harbin Engineering University;2001-04
8 WU Yue-xin,FU Zhuang,LI Pei-bo,ZHAO Yan-zheng (Research Institute of Robotics,Shanghai Jiaotong University.,Shanghai 200030, China);Dynamic analysis and simulation of automatic arrangement and adherence robot for solar cell[J];Journal of Harbin Institute of Technology;2006-09
9 WANG Quanyu;ZHAO Jie RAN Xianglai; CAI Hegao (Robot Research Institute, Harbin Institute of Technology, Harbin, 150001, China);A Six DOF Compliant Force/Torque Sensor[J];哈尔滨工业大学学报(英文版);1998-03
10 Zhang Hu Doctoral Candidate; College of Mech. Sci. & Eng., HUST, Wuhan 430074, China. Wu Ligen Zhang Xianglin Huang Shuhuai;Parameter Transformations in the CNC Tube Bending[J];JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY;1998-04
China Proceedings of conference Full-text Database 1 Hits
1 Cui Daobi (Hunan University,Changsha,China,410082);AN APPLICATION OF THE HOMOGENEOUS COORDINATE TRANSFORMATION IN CONTROLING THE POSITION ACCURACY OF THE BORED AND CUT WORKPIECES[A];[C];1996
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 Zhang Jiacong,Hu Huan (Anhui Institute of Architecture, Hefei,230022);MANIPULATOR DYNAMIC EGUATION AND OPTIMIZATION DESIGN[J];JOURNAL OF ANHUI INSTITUTE OF ARCHITECTURE;1998-01
2 FANG Hua et al(Engineering Training Center,Guangxi University of Technology,Liuzhou,Guangxi 545006);Research Advance in Control Technology for Agriculture Robot Proceeding[J];Journal of Anhui Agricultural Sciences;2008-32
3 LIU Qi guang 1, GE Xin sheng 2 (1.Departmemt of Mechanical Engineering,Beijing Institute of Machinery,Beijing 100085,China; 2.Division of Basic Courses, Beijing Institute of Machinery, Beijing 100085,China);Spinor-matrix equations in a robot dynamics[J];Journal of Beijing Institute of Machinery;2001-03
4 Tang Can Yun Chao Luan Sheng (School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China);Analysis of kinematics and dexterity for new surgery robot[J];Journal of Beijing University of Aeronautics and Astronautics;2005-07
5 Sun Xingchu (Beijing University of Aeronautics and Astronautics,Dept. of Mechanical and Electrical Engineering);OPTIMAL DESIGN OF THE MAJOR LINKAGE PARAMETERS OF ARTICULATED ROBOT[J];JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS;1996-04
6 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Optimal Configurator of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2000-06
7 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083);Point-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-01
8 ZHANG Shuosheng,YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Multi-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-02
9 ZHANG Shuosheng, YU DataiBeijing Institute of Petro-Chemical Technology. Beijing 102600, ChinaRobotics Research Institute, University of Science and Technology Beijing, Beijing 100083, China;Robust Following Controller Design of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2003-01
10 Li Cui Lan Ma Pei Sun Gao Xue Guan Cao Zhi Kui SJTU School of Mechanical Engineering(200030);A New six-wheel Lunar Robot for Uneven Surface[J];;2005-01
【Secondary References】
Chinese Journal Full-text Database 3 Hits
1 MA Bin-liang,HUANG Yu-mei,LIU Shu-yang,CHEN Liang(School of Mechanical and Instrumental Engineering,Xi'an University of Technology,Xi'an 710048,China);Nonlinear Error Compensation of Gyroscope Using Algebra Algorithm of Neural Networks[J];Journal of Applied Sciences;2008-04
2 Ma Binliang Huang Yumei Shi Enxiu Shangguan Wangyi Xi'an University of Technology,Xi'an,710048;Kinematic Modeling and Analysis of Intelligent Forklift with Variable Load under the Condition of Considering Sideslip Factor[J];China Mechanical Engineering;2007-21
3 TAN Bao-cheng1,WANG Da-wei1,YU Kai-wen(School of Electronic Information Engineering,Xi'an Technological University,Xi'an 710032,China;2.School of Marine Engineering,Northwestern Polytechnical University,Xi'an 710072,China);Variable-structure PID Control in Forging Manipulator[J];Journal of Xi'an Technological University;2009-05
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved