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Model and Motion Planning of Three-Link Mobile Manipulator Based on Programmable Controller

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DOI: 10.25236/iccem.2021.023


Jingwen Ding

Corresponding Author

Jingwen Ding


Therefore, most of the researches on kinematics, dynamics and control technology of robots focus on serial manipulator robots. The model of a new type of tandem Chinese massage manipulator is established, and its kinematics and dynamics are analyzed, and its velocity and acceleration are simulated by Adams. In the aspect of path planning, the path planning method of mobile manipulator system is discussed from the perspective of kinematics model, but the dynamic model is not considered, which is not enough for the manipulator system with large weight and inertia. Push operation of humanoid robot with given hand trajectory. The dynamics and control of the two arm space robot grasping system are studied. It uses programmable memory, which stores operation instructions such as logic operation, sequence control, timing, counting and arithmetic operation, and controls various types of machinery or production processes through digital and analog input and output. Robots will be as popular and personalized as today's personal computers. Robotics involves a variety of research and scientific fields, such as biomechanics, touch, neuroscience, virtual simulation, animation, surgery and sensor networks. In this paper, aiming at the problem of the controller design of the three-bar manipulator, the parametric control law of the rotation angle and angular velocity of the connecting rod is proposed, and the motion planning of the three-bar manipulator is carried out based on the programmable controller.


Programmable controller, Three-link mobile robot arm