Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

  • Bayle B
  • Fourquet J
  • Renaud M
  • 45


    Mendeley users who have this article in their library.
  • 92


    Citations of this article.


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.

Get free article suggestions today

Mendeley saves you time finding and organizing research

Sign up here
Already have an account ?Sign in

Find this document


  • B. Bayle

  • J. -Y. Fourquet

  • M. Renaud

Cite this document

Choose a citation style from the tabs below

Save time finding and organizing research with Mendeley

Sign up for free