论文信息 - On Coordinated Tasks for Nonholonomic Mobile Manipulators

On Coordinated Tasks for Nonholonomic Mobile Manipulators

Abstract This paper deals with coordinated tasks for mobile nonholonomic manipulators. The systems are composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. First, concepts such that redundancy and singular configurations are defined. Then, reduced differential models are introduced. It is then possible to work with a set of independant task coordinates. Applications follow for a planar system in the case of Point To Point and Continuous Path Tasks.

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