On a moving base robotic manipulator dynamics

摘要

There are several positions where the base of a robotic manipulator is attached to a moving platform, such as a moving ship or terrain. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods and the results are compared. The presented models are simulated on a Mitsubishi PA10-6CE robotic manipulator mounted on a ship platform that is moving on ocean. In this simulation it is assumed that inertia of the base is large enough that it is not affected by the manipulator motion. Calculation time between two methods is compared and it is shown that the Newton-Euler method needs less computation time than the Lagrange approach.