Inverse Dynamic Equations of Nonholonomic Mobile Manipulators with Revolute-Prismatic Joints

In this study, mathematical modeling and dynamic response of nonholonomic wheeled mobile robotic manipulator that consists of a serial manipulator with both Revolute-Prismatic (R-P) joints and an autonomous wheeled mobile platform is considered. To avoid the Lagrange multipliers associated with the nonholonomic constraints the approach of Gibbs-Appell formulation in recursive form is adopted. For modeling the system completely and precisely the coupling effects due to the simultaneous rotating and sliding motion of the rigid arms as well as both nonholonomic constraints associated with the no-slipping and the no-skidding conditions are included. Finally, the analysis of a mobile manipulator with two (R-P) joints is considered.In this study, mathematical modeling and dynamic response of nonholonomic wheeled mobile robotic manipulator that consists of a serial manipulator with both Revolute-Prismatic (R-P) joints and an autonomous wheeled mobile platform is considered. To avoid the Lagrange multipliers associated with the nonholonomic constraints the approach of Gibbs-Appell formulation in recursive form is adopted. For modeling the system completely and precisely the coupling effects due to the simultaneous rotating and sliding motion of the rigid arms as well as both nonholonomic constraints associated with the no-slipping and the no-skidding conditions are included. Finally, the analysis of a mobile manipulator with two (R-P) joints is considered.