DocumentCode
1747412
Title
Manipulability analysis for mobile manipulators
Author
Bayle, B. ; Fourquet, J.-Y. ; Renaud, M.
Author_Institution
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Volume
2
fYear
2001
fDate
2001
Firstpage
1251
Abstract
We extend the standard definition of manipulability to the case of a nonholonomic mobile manipulator built from an n joint robotic arm and a nonholonomic mobile platform. The effects of mounting the arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Applications of criteria inherited from manipulability considerations are given to justify design and to generate the controls of our system.
Keywords
manipulator kinematics; mobile robots; manipulability analysis; nonholonomic mobile manipulator; nonholonomic mobile platform; robotic arm; Arm; Art; End effectors; History; Manipulators; Mobile robots; Paints; Robot kinematics; Wheels; Zinc;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-6576-3
Type
conf
DOI
10.1109/ROBOT.2001.932782
Filename
932782
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