DocumentCode
2232898
Title
Kinematic modelling of wheeled mobile manipulators
Author
Bayle, B. ; Fourquet, J.-Y. ; Renaud, M.
Author_Institution
LSIIT, Strasbourg, France
Volume
1
fYear
2003
fDate
14-19 Sept. 2003
Firstpage
69
Abstract
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and maneuverability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.
Keywords
manipulator kinematics; mobile robots; holonomic-nonholonomic system; kinematic control laws; nonholonomic mobile manipulator; robotic arm; wheeled mobile platform; Axles; Computational geometry; Intelligent robots; Kinematics; Legged locomotion; Manipulators; Mobile robots; Orbital robotics; Solid modeling; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-7736-2
Type
conf
DOI
10.1109/ROBOT.2003.1241575
Filename
1241575
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