Sensitivity of a Mobile Manipulator Response to System Parameters

[+] Author and Article Information
U. O. Akpan, M. R. Kujath

Department of Mechanical Engineering, Technical University of Nova Scotia, Halifax, Nova Scotia Canada

J. Vib. Acoust 120(1), 156-163 (Jan 01, 1998) (8 pages) doi:10.1115/1.2893799 History: Received July 01, 1995; Revised January 01, 1996; Online February 26, 2008


The reported study investigates the stochastic dynamics of a mobile manipulator. The manipulator is mounted atop a vehicle supported on multiple wheels. Stochastic excitations and deterministic excitation of the manipulator are induced by the acceleration of the vehicle on a traction surface. The stochastic excitations are related by time delays due to the longitudinal alignment of the vehicle wheels. Expressions for the deterministic and covariance matrices of the manipulator stochastic motions are developed. Sensitivity of the system responses to the surface roughness, the dynamics and the kinematics parameters of the manipulator is investigated. Suggestions for mobile manipulator design to minimize the influence of the stochastic base excitations are presented.

Copyright © 1998 by The American Society of Mechanical Engineers
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