Kinematic Modelling of Wheeled Mobile Manipulators
نویسندگان
چکیده
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and manœuvrability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.
منابع مشابه
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تاریخ انتشار 2003