Sensitivity of a Mobile Manipulator Response to System Parameters

Abstract

The reported study investigates the stochastic dynamics of a mobile manipulator. The manipulator is mounted atop a vehicle supported on multiple wheels. Stochastic excitations and deterministic excitation of the manipulator are induced by the acceleration of the vehicle on a traction surface. The stochastic excitations are related by time delays due to the longitudinal alignment of the vehicle wheels. Expressions for the deterministic and covariance matrices of the manipulator stochastic motions are developed. Sensitivity of the system responses to the surface roughness, the dynamics and the kinematics parameters of the manipulator is investigated. Suggestions for mobile manipulator design to minimize the influence of the stochastic base excitations are presented.