Simulation of a Mobile Manipulator on Webots

Authors

  • Oscar F. Avilés S. Militar Nueva Granada University
  • Oscar G. Rubiano M Militar Nueva Granada University
  • Mauricio F. Mauledoux M Militar Nueva Granada University
  • Angie J. Valencia C Militar Nueva Granada University
  • Robinson Jiménez M Militar Nueva Granada University

DOI:

https://doi.org/10.3991/ijoe.v14i02.7789

Keywords:

Direct Kinematics, Inverse kinematics, Webots, Mobile manipulator

Abstract


A mobile manipulator is a mobile platform with a mounted serial manipulator. A Mobile Manipulator is a system subject to its kinematic restrictions and the degrees of freedom of the manipulator arm mounted on it. These systems combine the advantages of mobile platforms and robotic arms, and reduce their disadvantages. For example, a mobile manipulator has larger working space when it has a mobile platform, as it offers more functionality during operation. For the previously mentioned in this work will be shown the implementation in the robotic simulation software Webots, a mobile manipulator that allows to determine its operation in a virtual environment

Author Biographies

Oscar F. Avilés S., Militar Nueva Granada University

Mechatronics

Oscar G. Rubiano M, Militar Nueva Granada University

Mechatronics

Mauricio F. Mauledoux M, Militar Nueva Granada University

Mechatronics

Angie J. Valencia C, Militar Nueva Granada University

Mechatronics

Robinson Jiménez M, Militar Nueva Granada University

Mechatronics

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Published

2018-02-28

How to Cite

Avilés S., O. F., Rubiano M, O. G., Mauledoux M, M. F., Valencia C, A. J., & Jiménez M, R. (2018). Simulation of a Mobile Manipulator on Webots. International Journal of Online and Biomedical Engineering (iJOE), 14(02), pp. 90–102. https://doi.org/10.3991/ijoe.v14i02.7789

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Section

Papers