Ahmed Abdurrahman Farah Ismail <br/><br/>
Mobile robot arms : design modeling and simulation with experimentation /  
 الروبوتات الجوالة : التصميم و النمذجة و المحاكاة مع التطبيق العملى 
Ahmed Abdurrahman Farah Ismail ; Supervised Said M.Megaed 
 - Cairo :   Ahmed Abdurrahman Farah Ismail ,   2007 
 - 162P. :   ill ;   30cm 
<br/><br/>Thesis (M.Sc.) - Cairo University - Faculty Of Engineering - Department Of Mechanical Design and Production 
<br/><br/> This thesis present a systematic modeling technique of wheeled mobile arms as one system.This technique is called virtual robot approach which is based on the HomogeneousTransformation Matrix (HTM) .In this approach the vehicle equivalent virtual rebot is assumed to include two prismatic joints (PP) and one revolute joint (R) with virtual links for kinematic analysis and equirvalent real links for dynamic analysis 
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<br/><br/><label>Subjects--Index Terms: </label>Homogeneous transformation matrix Kinematics Mobils robot arm