Inverse dynamic of a N-links manipulator mounted on a wheeled mobile robot

Abstract

Modeling and analyzing the inverse dynamic for robotic systems play an important role in designing and controlling the robots. As for the robotic system designed with a general n-links manipulator integrated on a wheeled mobile robot, modeling and analyzing its dynamic cope with challenge since the system consists of the non-holonomics and redundancy properties. In this paper, we introduce an efficient scheme for building a set of the governing equations which describe the system's dynamical behavior, and propose an algorithm for analyzing the inverse dynamic equations effectively.