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- W2786643641 abstract "This paper is devoted to the dynamic modelling of an omnidirectional mobile manipulator. The driving wheels of the mobile platform is powered castor wheels, and the dynamics of the platform is derived by Lagrangian method and the augmented object model. The dynamics of the manipulator atop the platform is obtained by Newton-Euler recursive method. The interaction force between the arm and the platform is also derived to complete the unified model. Finally, a simulation is used to verify the proposed dynamic model." @default.
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- W2786643641 date "2017-11-01" @default.
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- W2786643641 title "Dynamics modelling of a mobile manipulator with powered castor wheels" @default.
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- W2786643641 doi "https://doi.org/10.1109/iccis.2017.8274869" @default.
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