DocumentCode
399403
Title
Coordination and control of multiarm, non-holonomic mobile manipulators
Author
Casalino, Giuseppe ; Turetta, Alessio
Author_Institution
DIST, Genova Univ., Italy
Volume
3
fYear
2003
fDate
27-31 Oct. 2003
Firstpage
2203
Abstract
The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of suitably exploiting the extra dof´s offered by the vehicle for better accomplishing the assigned task in a cooperative way.
Keywords
manipulators; mobile robots; motion control; velocity control; multiarm control; multiarm coordination; multiarm nonholonomic mobile manipulators; supported manipulation system motion; Arm; Ellipsoids; Jacobian matrices; Manipulators; Mobile robots; Motion analysis; Motion control; Motion planning; Robot kinematics; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN
0-7803-7860-1
Type
conf
DOI
10.1109/IROS.2003.1249198
Filename
1249198
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