Investigating dynamic interaction between the one DOF manipulator and vehicle of a mobile manipulator

A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over une ven surfaces, thus having an infinite workspace. If the manipulator could o perate while the vehicle is traveling, the efficiency concerning with the t ime and energy used for stopping and starting will be increased. This paper presents the kinematic and dynamic modeling of a one degree of f reedom manipulator attached to a vehicle with a two degrees of freedom susp ension system. The vehicle is considered to move with a constant linear spe ed over an uneven surface while the end effector tracks a desired trajector y in a fixed reference frame. In addition, the effects of dynamic interacti on between the manipulator and vehicle (including the suspension system's e ffects) have been studied. Simulation results from straight line trajectory are presented to illustrate these effects.