Coordinating locomotion and manipulation of a mobile manipulator

A planning and control algorithm for coordinating the motion of a mobile manipulator is presented. The design criterion is to control the mobile platform so that the manipulator is maintained in a configuration which maximizes the manipulability measure. The effectiveness of the method was verified by simulations on two representative trajectories. The algorithm was implemented with an actual mobile manipulator and tested on one of the trajectories for comparison purposes.<<ETX>>

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