The kinematics analysis of a redundant mobile manipulator
Chengjun Ding, Ping Duan, Minglu Zhang, Huimin Liu · 2008
This paper adopts the HEBUT-2 mobile manipulator as the object of research, which is used for the leak detecting and repairing in the environment of dangerous chemical reactor. The kinematics model of HEBUT-2 mobile manipulator includes a 5 DOF (degree of freedom) manipulator and a 2 DOF mobile platform. The Denavit-Hartenberg method is used to analysis the forward and the inverse kinematics. In the process of solving the inverse problem, the kinematics redundancy of the mobile manipulator is discussed, and computational complexity of the inverse kinematics problem is simplified. Simulations of the kinematics are made by use of ADAMS, and the results of simulation verify that the method can efficiently resolve kinematics problem of the redundant mobile manipulator.