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

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

doi:10.3390/electronics7120441

Daniel Feliu-Talegon, Andres San-Millan + Show 1 more

Open Access

https://doi.org/10.3390/electronics7120441

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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.

Highlights

IntroductionWhen compared to conventional manipulators, lightweight link manipulators have the following advantages: a lower cost, a larger work volume (they have longer links), a higher operational speed, a greater payload-to-manipulator-weight ratio, smaller actuators, less energy consumption, better maneuverability, better transportability and safer operation owing to reduced inertia
When compared to conventional manipulators, lightweight link manipulators have the following advantages: a lower cost, a larger work volume, a higher operational speed, a greater payload-to-manipulator-weight ratio, smaller actuators, less energy consumption, better maneuverability, better transportability and safer operation owing to reduced inertia.These numerous advantages have led to the extensive use of these kind of manipulators in various robotic applications, making them of great interest to many researchers throughout the world over the last few decades
This software has been used to simulate the kinematics of the system combining different positions of the linear actuator in order to asses the accuracy of the proposed kinematic model

Summary

Introduction

When compared to conventional manipulators, lightweight link manipulators have the following advantages: a lower cost, a larger work volume (they have longer links), a higher operational speed, a greater payload-to-manipulator-weight ratio, smaller actuators, less energy consumption, better maneuverability, better transportability and safer operation owing to reduced inertia. These numerous advantages have led to the extensive use of these kind of manipulators in various robotic applications, making them of great interest to many researchers throughout the world over the last few decades. A mobile robot must be capable of some form of manipulation in order to be useful and manipulators are, mounted on mobile platforms

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