Using Manipulability with Nonholonomi Mobile Manipulators
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منابع مشابه
Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several ap...
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We consider the kinematics of a mobile manipulator that consists of a non-holonomic (or holonomic) mobile platform and a holonomic manipulator mounted atop of the platform. At any fixed time instant and with fixed initial state of the platform these kinematics are viewed as a map from a Hilbert space of controls and manipulator’s joint positions into a taskspace of the mobile manipulator, and c...
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In the last several years, mobile manipulators have been increasingly utilized and developed from a theoretical viewpoint as well as for practical applications in space, underwater, construction and service environments. The work presented in this chapter deals with the problem of intelligent behaviour modelling and control of a mobile manipulator for the purpose of simultaneously following des...
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We extend the standard de nition of manipulability to the case of a nonholonomic mobile manipulator built from an n joint robotic arm and a nonholonomic mobile platform. The e ects of mounting the arm on a nonholonomic platform are shown through the analysis of the manipulability thus de ned. Applications of criteria inherited from manipulability considerations are given to justify design and t...
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