Abstract
Due to the maneuverability and operability of a mobile manipulator, the space of its application is greatly extended, especially the mobile manipulator has a wide application prospect in the hazardous areas such as explosive removal, and hazardous leakage material treatment. This paper makes a kinematic and dynamic analysis of the mobile manipulator system for detecting the leakage of chemical dangerous goods, establishes the dynamic analysis model and carries out the motion simulation, together with the simulation and experimental analysis. The effectiveness and reliability of the designed controller are verified by simulation and experiment, the accurate positioning is realized with the mobile manipulator and the sealing system is used to accomplish the task of sealing the leakage of the dangerous chemicals.
