Experimental Parameter Identification for Moving Base Nonholonomic Robot Consisting Primary Joints

Abstract

Main aim of this paper is to study dynamic modeling and parameter identification of a nonholonomic moving based robot with chain of serial manipulators with primary joints. One of the main scenarios for analyzing mechanical systems including the no holonomic constraints will be carried out by using Lagrangian formulation and its associated “Lagrange multipliers”. Most research on movable manipulators are limited to robots with only rotating joints. The dynamic equations of robots with rotational and prismatic movement is a very important subject with many applications. The combination of this system with a movable base will bring capability of operating in a wider area than a fixed base manipulator. The moving ability added to the agility of the manipulator, is requirement of many application such as; space explores, rescue operations, operation in hazardous locations, agriculture, and so on. Eliminating these variables from the obtained equations is a time-consuming and cumbersome task. To prevent computing the Lagrange multipliers associated with the nonholonomic constraints; Gibbs-Appell formulation shall be implemented. To automatically derive the motion equations and upgrade the computational efficiency, a recursive algorithm has been derived in the simulation of the system. In the concept of this algorithm, all the mathematical scheme is carried out by only 3 × 3 and 3 × 1 matrices. In the last section, computational modeling for a chain of the manipulator with 3 links and primary joints in each arm is performed to show the aptitude of the proposed scheme in implementation of the motion equations and parametric analysis for complex systems at this level. One of the main purposes of this study is to develop rover technologies for interplanetary explorations.