Stochastic response of a flexible mobile robotic manipulator structure

The paper investigates the stochastic response of a flexible articulated mobile robotic manipulator. The manipulator is mounted on a vehicle base which is supported by a suspension system. The random excitation is induced by a uniform horizontal motion of the suspension base on a traction surface. Expressions for the covariance tensor of the joint's responses are derived. Sensitivities of the joint's responses to manipulator configuration, base velocity, surface roughness coefficients and damping are studied in detail.