2012
DOI: 10.1016/j.scient.2012.05.001
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Dynamic modeling of nonholonomic wheeled mobile manipulators with elastic joints using recursive Gibbs–Appell formulation

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Cited by 48 publications
(18 citation statements)
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“…In addition, Tanner et al [13] presented a complete model for a mobile robotic manipulator by applying Kanes's equations. Exploiting the benefits of G-A formulation in deriving the governing equations of robotic systems coupled with holonomic and nonholonomic constraints, Korayem et al [14][15][16][17] developed an algorithm based on 3 × 3 rotation matrices to obtain the motion equations of serial chain robotic manipulators composed of rigid/ flexible links and mounted on a mobile platform. Vosoughi et al [18] used the G-A formulation to derive the equations of motion for snakelike robotic systems.…”
Section: Introductionmentioning
confidence: 99%
“…In addition, Tanner et al [13] presented a complete model for a mobile robotic manipulator by applying Kanes's equations. Exploiting the benefits of G-A formulation in deriving the governing equations of robotic systems coupled with holonomic and nonholonomic constraints, Korayem et al [14][15][16][17] developed an algorithm based on 3 × 3 rotation matrices to obtain the motion equations of serial chain robotic manipulators composed of rigid/ flexible links and mounted on a mobile platform. Vosoughi et al [18] used the G-A formulation to derive the equations of motion for snakelike robotic systems.…”
Section: Introductionmentioning
confidence: 99%
“…They analyzed the head trajectory tracking motion in terms of manipulability. Studies that assume the lateral constraint are still conducted for more complex tasks [11,12], to propose novel modeling [13], and to develop a deeper mathematical understanding of a robot [14].…”
Section: Introductionmentioning
confidence: 99%
“…Accordingly, they are able to accomplish most common complicated tasks that require locomotion and manipulation capabilities [2] in large workspaces that may include many obstacles [3]. The high mobility of mobile manipulators and their dexterous manipulation abilities make this type of robots increasingly utilized in various fields, such as planetary exploration, urban search-and-rescue operations, mining, agriculture, military missions, and nuclear reactor maintenance and hazardous site clean-ups [4,5].…”
Section: Introductionmentioning
confidence: 99%