Modeling and motion planning for a three-link mobile manipulator
三连杆移动机械臂模型与运动规划

This paper sets up the kinematics and dynamics models of three-link mobile manipulator by using Lagrange dynamics equation and nonholonomic dynamics Routh equation,and the method of artificial potential function is applied to the mobile manipulator to avoid collision with the obstacles and reach its target.The results of simulation illustrate the validity of modeling and the effectiveness of this method.