Dynamic Modeling of Mobile Manipulator based on Floating-Like Base

To solve strong dynamic coupling problem between manipulator and mobile base, a a floating-like base method was proposed. In this paper, the model of the mobile manipulator is regarded as a combination of a floating-like base and a fixed manipulator. During the movement of the mobile manipulator, the mobile base provides three degrees of freedom. This three degrees of freedom can be converted into three virtual member bar, which connect the manipulator and the ground. In this way, the dynamic modeling of the mobile manipulator is carried out based on the floating-like base, and then the floating-like base is converted into a fixed base for dynamic calculation.