Inverse dynamics calculation method of power wheeled mobile manipulators

A manipulator which is able to move freely is effective more than the one fixed on a floor. If the manipulator could operate while it is travelling, the efficiency concerning with the time and energy used for stopping and starting will be raised up more. Equations of motion of the mobile manipulator which is a mobile robot mounted a manipulator have interference terms. As the result of disturbing the motions each other, hand of the manipulator is not able to be controlled to the reference position and orientation in the work frame. Considering the movement of the mobile robot is nonholonomic, the dynamical interferences would be better to be removed. We propose a method to remove the interferences using the Newton-Eular Method, and the simulation experiments show the method is effective.