Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

  • Bayle B
  • Fourquet J
  • Renaud M
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Abstract

We propose a systematic modeling of the nonholonomic mobile manipulators
built from a robotic arm mounted on a wheeled mobile platform. We
use the models derived to generalize the standard definition of manipulability
to the case of mobile manipulators. The effects of mounting a robotic
arm on a nonholonomic platform are shown through the analysis of
the manipulability thus defined. Several applications are evoked,
particularly applications to control. The optimization of criteria
inherited from manipulability considerations are given to generate
the controls of our system when its end effector motion is imposed.

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Authors

  • B. Bayle

  • J. -Y. Fourquet

  • M. Renaud

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