International Journal of Advanced Robotic Systems (Jan 2011)
Systematic Analysis of an IEED Unit Based in a New Methodology for M&S
Abstract
In the field of modeling and simulation of mechatronics designs of high complexity, is presented a systematic analysis of an IEDD unit [1] (improvised explosive device disposal) based in a new methodology for modeling and simulation divided into 6 stages in order to increase the accuracy of validation of whole system, this mechatronic unit is a Non-holonomic Unmanned wheeled mobile manipulator, MU-NH-WMM, formed by a Differential Traction and a manipulator arm with 4 degrees of freedom mounted on wheeled mobile base, hence the contribution of this work is a novel methodology based on a practice proposal of philosophy of mechatronics design, which establishes the suitable kinematics to coupled wheeled mobile manipulator, where the motion equations and kinematics transformations are the base of the specific stages in order to obtain the dynamic of coupled system, validating the behavior and the trajectories tracking, in order to achieve the complex tasks of approaching to work area and the appropiatehandling of explosive device, this work is focused in the first of them; such that the errors in the model can be detected and later confined by proposed control.
