On the performance of variable geometry manipulators:: Part I -: Three dimensional order N formulation

A relatively general formulation for studying dynamics and control of a novel multi-module mobile manipulator, with slewing as well as deployable links, is presented. The deployment character leads to several advantages including reduced coupling, fewer singular configurations and ease of obstacle avoidance. The three-dimensional, order N, Lagrangian approach accounts for interactions between orbital, librational, slew, deployment and elastic degrees of freedom. The versatile character of the formulation makes it applicable to a large class of manipulator systems of contemporary interest. Of particular significance is the order N property which promises considerable saving in computational cost. (C) 2001 Elsevier Science Ltd. All rights reserved.