Derivation and analysis of a dynamic model of a robotic manipulator on a moving base

作者：Wronka C M; Dunnigan M W^*

来源：Robotics and Autonomous Systems, 2011, 59(10): 758-769.

DOI：10.1016/j.robot.2011.05.010

• Robotic manipulator
• Moving base
• Dynamic model derivation
• Dynamic model terms incorporation

A dynamic model of a robotic manipulator mounted on a moving base is derived using the Euler-Lagrange approach. It is assumed that the base inertia is large enough not to be influenced by the manipulator motion and therefore can be treated as a time-varying parameter in the dynamic equations. The presented derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 2-DOF platform. The model is analysed by comparing simple closed-loop control results of the simulated model with experimental data from the manipulator mounted on the platform.

• 出版日期2011-10