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International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)Available to Purchase
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ISBN:
9780791859902
No. of Pages:
1400
Publisher:
ASME Press
Publication date:
2011
eBook Chapter
84 Modeling and Simulation of General Mobile Manipulator Based MATLAB Available to Purchase
By
Xiaoni Chi
Xiaoni Chi
Youngman Automotive institute,
HANGZHOUVOCANTIONAL&TECHNOLOGICA L SCHOOL
, Hangzhou
, China
; [email protected]
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Page Count:
4
-
Published:2011
Citation
Wu, Q, Liu, B, & Chi, X. "Modeling and Simulation of General Mobile Manipulator Based MATLAB." International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011). Ed. Ming, C. ASME Press, 2011.
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Model of Powerbot mobile manipulator aiming at standard DH method and modified DH method were constructed in the paper, its kinematics, inverse kinematics and dynamics of mobile manipulator were simulated by use of robotics toolbox for MATLAB, and the results was verified with actual operations. In addition a three-dimensional mobile manipulator model was added to Microsoft Robotic Studio, a modeling and simulation platform of general mobile manipulator was established, it provides a framework and basis for further research planning and control.
Abstract
Keywords:
Introduction
Nomenclature
1. Model of Mobile Manipulators
2. Mobile Manipulator Simulation Based on MATLAB
3. Motion Simulation
4. Conclusions
Acknowledgments
References
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