• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.6
• /
• pp.774-779
• /
• 2010

This paper analyzes the fundamental dynamic motion of a robotic arm and body mechanism on the platform of a mobile manipulation system. For the purpose, we reveal the dynamic coefficients of a robotic arm and body mechanism, and identify their dominant behaviors in an exemplar trajectory following simulation. We also discuss on their influence for the motion of the body, shoulder, and elbow joints. It is finally expected that this analysis is helpful for effective manipulation tasks by using mobile manipulation systems with an arm and body mechanism.

• Journal of the Korean Society for Precision Engineering
• /
• v.10 no.3
• /
• pp.107-116
• /
• 1993

In the design and operation of robitic arm with flexible links, the equation of motion are required to exactly model the interaction between rigid body motion and elastic motion and to be formulated efficientlyl. In this paper, the flexible link is represented by applying the D-H rigid link representation method to measure the elestic deformation. And the equations of motion of robotic arm, which are configured by the generalized coordinates of elastic and rigid degrees of freedom, are formulated from the principle of virtual power. Dynamic characteristics due to elastic deformation of each link are obtained by using F. E. M to model complex shaped link acurately and by eliminating elastic modes of higher order that do not largely affect motion to reduce the number of elastic degrees of freedom. Also presented is the result of simulation of flexible robotic arms whose joints are controlled by direct or PD control.