Abstract

To describe, analyze, and synthesize the computer-controlled robot motion, the kinematics and dynamics modeling must be done first. Here, robotic kinematics expresses the motion of a robot mechanism regardless of forces and torque, while a dynamic model is a representation of the relationship between the joint torques and the dynamical robot motion. In the previous chapter, a robot system is proposed to work in modern multifloor buildings, which consists of an autonomous mobile robot (the differential drive model) and an eye-on-hand manipulator (6-degrees of freedom). Besides, a robotic framework for the proposed mobile manipulator to change its work floors is also presented. In this chapter, the kinematics and dynamics of the proposed robot system are analyzed.

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