Dynamical Modeling of Nonholonomic Mobile Manipulators -Comparison between Modeling by Lagrange and N ewton-Euler Methods-

摘要

This research is concemed with dynamical modeling of nonholonomic mobile manipulators. We propose a new dynamical formulation method of a mobile manipulator whose travelling motion is restricted kinematically by nonholonomic constraints. The proposed formulation named Newton-Euler method， has two merits as compared with a currentIy authorized Lagrange method : (1) it does not require to reduce a number of generalized coordinates，because minimum state variables are used in the modeling procedure from the first， (2) it suits to inverse dynamical calculation，the property is derived Fom recursive formulation enabled by a serial link structure of mounted manipulator. Further，we show details of both formulation methods using one link mobile manipulator as an example. As the result of it， same dynamical equation is obtained by completely different methods.