Title :
A consistent kinematic modeling method for mobile manipulators
Author_Institution :
Dept. of Control & Instrum. Eng., Korea Univ., Jochiwon, South Korea
Abstract :
In this paper, a consistent kinematic modeling method for mobile manipulators is proposed. We transform the mobile manipulators into conventional manipulators via appropriate change of kinematic structure. Consequently, analyses of kinematics for mobile manipulators can be conveniently carried out with the transformed manipulators. Cases of differential-drive and car-like types of mobile platforms are formulated, but theoretically not limited to these.
Keywords :
manipulator kinematics; mobile robots; kinematic modeling; kinematic structure; mobile manipulator; mobile platform; Jacobian matrices; Joints; Kinematics; Manipulator dynamics; Mobile communication; Mobile manipulator; nonholonomic constraint;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-7814-9
DOI :
10.1109/ICARCV.2010.5707827
