Realtime Coordinated Redundant Motion of a Nonholonomic Mobile Manipulator

نویسندگان

  • Günter Schreiber
  • Gerd Hirzinger
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.

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تاریخ انتشار 2003