DYNAMICS MODELLING OF SUSPENDED MOBILE MANIPULATORS: AN EXPLICIT APPROACH WITH VERIFICATION

摘要

Mobile platforms with one or more manipulators are of great interest for their wide area of applications and dexterity. Including a suspension system in such mobile platforms will certainly add to their manoeuvrability and very considerably to their complexity. From model-based control point of view, for such complicated robotic systems with suspension system, it is vital to have a concise set of dynamic equations of motion; thus, the focus of this paper is on the dynamics modelling of suspended mobile robots with multiple manipulators for control purposes. To derive dynamics equation of motion for such complex systems, the Lagrange formulation is utilized. To do this, first, the system kinetic energy is obtained and then the system potential and dissipated energy are detailed through vigorous mathematical analyses. Next detailed derivation of the system's mass, non-linear velocity and stiffness/gravity matrices is discussed. As shown in the literature, the obtained dynamics model is very useful for control purposes and dynamics analyses. Finally to verify the dynamics modelling procedure, the equations of motion are programmed in Maple and later used in Matlab and compared with the dynamics analysis software, Msc.Adams. The obtained results guarantee the accuracy of the obtained dynamics modelling.