On a Moving Base Robotic Manipulator Dynamics

Document Type : Original Article

Authors

Faculty of Mechanical Engineering, Tarbiat Modares University, Tehran, Iran

Abstract

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounted on a ship platform that is moving on ocean and the results are verified through both methods. In this simulation it is assumed that the inertia of the base of the robot is large enough and is not affected by the manipulator motion. However, the motion of the ship directly influences the dynamics of the manipulator in movements. Results and computation time of the two methods are compared and it is shown that the Newton-Euler method needs less computation time than the Lagrange method.

Keywords

References

[1] J. Joshi and A. Desrochers, “Modeling and control of a mobile robot subject to disturbances”, Robotics and Automation. Proceedings. 1986 IEEE International Conference on, (1986), pp. 1508–1513.
[2] R. Jamisola, “Full dynamics identification and control of PUMA 560 and Mitsubishi PA-10 robots”, Master’s Thesis. National University of Singapore, Department of Mechanical and Production Engineering, (2001).
[3] N. Bompos, P. Artemiadis, A. Oikonomopoulos, K. Kyriakopoulos, “Modeling, full identification and control of the Mitsubishi PA-10 robot arm”, in: Advanced intelligent mechatronics, 2007 IEEE/ASME International Conference on, (2007), pp. 1–6.
[4] A. B. Tanner, “Study of robotic manipulators subjected to base disturbances”, Master’s Thesis. Army Military Personnel Center Alexandria VA, (1987).
[5] F. M. Carter, D. B. Cherchas, “Motion control of non-fixed base robotic manipulators”, Robotica, Vol. 17, (1999), pp. 143–157.
[6] L. Love, J. Jansen and F. Pin, “On the modeling of robots operating on ships”, in Robotics and Automation, 2004 Proceedings, ICRA’04, 2004 IEEE International Conference on, (2004), pp. 2436–2443.
[7] L. Love, J. Jansen, F. Pin, “Compensation of wave-induced motion and force phenomena for ship-based high performance robotic and human amplifying systems”, Technical Report ORNL/TM-2003/233. Oak Ridge National Laboratory, Oak Ridge, Tenn, (2003).
[8] P. J. From, V. Duindam, J. T. Gravdahl, S., “Modeling and motion planning for mechanisms on a non-inertial base”, in: Proceedings of the IEEE International Conference on Robotics and Automation, (2009), pp. 3320–3326.
[9] S. Dubowsky and E. Papadopoulos, “The Kinematic, Dynamic and Control of Free Flying Systems” IEEE Transactions on Robotic and Automation, Vol. 9(5), (1993).
[10] S. Murphy, J. Y. Wen, G. Saridis, “Simulation of cooperating robot manipulators on a mobile platform”, Robotics and Automation, IEEE Transactions on, (1991), pp. 468–478.
[11] C. M. Wronka, M. W. Dunnigan, “Derivation and analysis of a dynamic model of a robotic manipulator on a moving base”, Robotics and Autonomous Systems, Vol. 59 (2011), pp. 758–769.
[12] K. Fu, R. Gonzales, C. Lee, ROBOTICS, in: Control, Sensing, Vision and Intelligence, McGraw-Hill, 1987.
[13] John J. Craig: Introduction to Robotic Mechanics and Control.
[14] http://tams-www.informatik.uni-hamburg.de/research/robotics/ /hardware/index.php?content= manipulator.
International Journal of Robotics, Theory and Applications
Volume 4, Issue 3 - Serial Number 3
December 2015
Pages 66-74

Files

Share

How to cite

Statistics