Derivation and analysis of a dynamic model of a robotic manipulator on a moving base

A dynamic model of a robotic manipulator mounted on a moving base is derived using the Euler–Lagrange approach. It is assumed that the base inertia is large enough not to be influenced by the manipulator motion and therefore can be treated as a time-varying parameter in the dynamic equations. The presented derivation is applied to a Mitsubishi PA10-6CE robotic manipulator mounted on a 2-DOF platform. The model is analysed by comparing simple closed-loop control results of the simulated model with experimental data from the manipulator mounted on the platform.

► We derive a dynamic model of a robotic manipulator mounted on a moving base.
► We apply it to a Mitsubishi PA10-6CE robotic manipulator mounted on a 2-DOF platform.
► The model is analysed by comparing simulated model results with experimental data.
► The approach is useful for controlling a robotic manipulator on a moving base.