Realtime Coordinated Redundant Motion of a Nonholonomic Mobile Manipulator
نویسندگان
چکیده
In this paper, the problem of coordinated motion control of a nonholonomic mobile platform with a serial manipulator mounted on top of the platform is addressed. The redundancy resolution algorithm bases on a constraint optimization approach, where the non–holonomic behaviour of the platform is modeled into inequality constraints leading to a convex optimization problem.
منابع مشابه
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