Modeling and motion planning of a three-link wheeled mobile manipulator
Yingbai Hu, Bian Guo · 2005
This work set up the kinematics and dynamics modeling of three-link mobile manipulator by using Lagrange dynamics equation and nonholonomic dynamics Routh equation, and the method of artificial potential field was used to drive the mobile manipulator to finish the motion planning. The results of simulation illustrated correctness of the modeling and effectiveness of the method.