Vehicle Manoeuvring and Multiarm Motion Coordination within Space Manipulation
نویسندگان
چکیده
The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of suitably exploiting the extra dof’s offered by the vehicle for better accomplishing the assigned task in cooperative way. Results are obtained by merging together some recent ones, relevant to the field of non-holonomic vehicle guidance and manoeuvring, with those concerning the coordination of fixed base multiarm manipulation systems.
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