From robotic arms to mobile manipulation: on coordinated motion schemes
نویسنده
چکیده
The task definition for mobile manipulators is presented. Then, a generic formulation of global instantaneous kinematics is proposed for wheeled mobile manipulators. It is compared with the classical kinematic modelling of robotic arms. In particular, it is shown that many tools of classical manipulation can be re-used in this new framework. Finally, simulation results and experiments are presented and the remaining industrial challenges are mentioned. So, this article provides comprehensive bases for the use of such systems in an industrial context.
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