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

Daniel Feliu-Talegon; Andres San Millan Rodriguez; Vicente Feliu-Batlle

doi:10.3390/electronics7120441

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

Daniel Feliu-Talegon^*, Andres San Millan Rodriguez, Vicente Feliu-Batlle

^*Corresponding author for this work

Engineering

Research output: Contribution to journal › Article › peer-review

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.

Original language	English
Article number	441
Number of pages	27
Journal	Electronics (Switzerland)
Volume	7
Issue number	12
Early online date	15 Dec 2018
DOIs	https://doi.org/10.3390/electronics7120441
Publication status	Published - 15 Dec 2018

Bibliographical note

Acknowledgments
This work has, in part, been supported by the Spanish Agencia Estatal de Investigación (AEI) under Project DPI2016-80547-R (Ministerio de Economía y Competitividad), in part by the European Social Fund (FEDER, EU) and in part by the Spanish scholarship FPU14/02256 of the FPUProgram of the Ministerio de Educacion, Cultura y Deporte.

Keywords

kinematic model
orientation
posture
linear actuators
DC motors
identification

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10.3390/electronics7120441Licence: CC BY

Feliu_etal_E_A_New_Kinematic_VoR
© 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
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Cite this

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title = "A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators",

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.",

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author = "Daniel Feliu-Talegon and {San Millan Rodriguez}, Andres and Vicente Feliu-Batlle",

note = "Acknowledgments This work has, in part, been supported by the Spanish Agencia Estatal de Investigaci{\'o}n (AEI) under Project DPI2016-80547-R (Ministerio de Econom{\'i}a y Competitividad), in part by the European Social Fund (FEDER, EU) and in part by the Spanish scholarship FPU14/02256 of the FPUProgram of the Ministerio de Educacion, Cultura y Deporte.",

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AU - Feliu-Batlle, Vicente

N1 - Acknowledgments This work has, in part, been supported by the Spanish Agencia Estatal de Investigación (AEI) under Project DPI2016-80547-R (Ministerio de Economía y Competitividad), in part by the European Social Fund (FEDER, EU) and in part by the Spanish scholarship FPU14/02256 of the FPUProgram of the Ministerio de Educacion, Cultura y Deporte.

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N2 - 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.

AB - 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.

KW - kinematic model

KW - orientation

KW - posture

KW - linear actuators

KW - DC motors

KW - identification

U2 - 10.3390/electronics7120441

DO - 10.3390/electronics7120441

M3 - Article

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JO - Electronics (Switzerland)

JF - Electronics (Switzerland)

IS - 12

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ER -

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

Abstract

Bibliographical note

Keywords

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