A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Daniel Feliu-Talegon*, Andres San Millan Rodriguez, Vicente Feliu-Batlle

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)

Abstract

This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a mobile platform. This work is focused on the description of the mobile platform, the development of a new kinematic model and the design of a control strategy for the system. The proposed kinematic model and control strategy are validated by means of experimentation using the real prototype. The workspace of the system is also defined.
Original languageEnglish
Article number441
Number of pages27
JournalElectronics (Switzerland)
Volume7
Issue number12
Early online date15 Dec 2018
DOIs
Publication statusPublished - 15 Dec 2018

Bibliographical note

Acknowledgments
This work has, in part, been supported by the Spanish Agencia Estatal de Investigación (AEI) under Project DPI2016-80547-R (Ministerio de Economía y Competitividad), in part by the European Social Fund (FEDER, EU) and in part by the Spanish scholarship FPU14/02256 of the FPUProgram of the Ministerio de Educacion, Cultura y Deporte.

Keywords

  • kinematic model
  • orientation
  • posture
  • linear actuators
  • DC motors
  • identification

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