On Coordinated Tasks for Nonholonomic Mobile Manipulators
نویسندگان
چکیده
This paper deals with coordinated tasks for mobile nonholonomic manip-ulators. The systems are composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. First, concepts such that redundancy and singular conngurations are deened. Then, reduced diierential 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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