A Hierarchical Aggregation Modelling Method for Mobile Manipulators

DONG Fangfang; YANG Chao; HAN Jiang; ZHANG Xinrong

doi:10.21656/1000-0887.440025

Volume 44 Issue 12

Dec. 2023

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DONG Fangfang, YANG Chao, HAN Jiang, ZHANG Xinrong. A Hierarchical Aggregation Modelling Method for Mobile Manipulators[J]. Applied Mathematics and Mechanics, 2023, 44(12): 1473-1490. doi: 10.21656/1000-0887.440025

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A Hierarchical Aggregation Modelling Method for Mobile Manipulators

doi: 10.21656/1000-0887.440025

DONG Fangfang^{1, 2
,},
YANG Chao¹,
HAN Jiang^{1, 2},
ZHANG Xinrong^{3
,
,}

1.
School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, P.R.China
2.
Anhui Engineering Laboratory of Intelligent CNC Technology and Equipment, Hefei 230009, P.R.China
3.
Shaanxi Province Key Laboratory of Highway Construction Machinery, Chang'an University, Xi'an 710064, P.R.China

Received Date: 2023-02-02
Rev Recd Date: 2023-08-06
Publish Date: 2023-12-01

Abstract

Abstract

The coupling effects of mobile manipulators on the motion characteristics of mobile platforms during the dynamic operation process, would increase the complexity and nonlinearity of the whole system and then bring great challenges to the system modelling. A new hierarchical aggregation modelling method was proposed to solve this issue. The method is based on the hierarchical properties of the Udwadia-Kalaba (UK) theory in the analytical mechanics. First, the mobile manipulator was divided into 3 subsystems, and the unconstrained dynamics of each one was modelled with the Lagrangian equations. Subsequently, the basic Udwadia-Kalaba equations (UKE) were employed to model the overall system, in view of the constraints within the mechanical structure of the mobile manipulator. In addition, the Lyapunov stability-based theory was used to compensate for the initial condition deviations to achieve convergence of the ideal trajectory. Simulation results validate the feasibility of the proposed modelling method.
- Udwadia-Kalaba method,
- hierarchical aggregation modelling method,
- mobile manipulator,
- dynamical modelling

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References(20)

References

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