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
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;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932782
