Multiple Impedance control of a compounded serial - parallel mobile robot

In this study , kinematics , dynamics and stability analysis of a compounded serial -parallel wheeled mobile robot is elaborated. The proposed system is made of a differentially -driven wheeled platform a planar parallel manipulator which is called here as star triangle ST mechanism and a serial puma -type manipulator arm.

کلیدواژه ها:

wheeled mobile robot ، dynamics modeling-impedance control .