Title :
Kinematic modelling of wheeled mobile manipulators
Author :
Bayle, B. ; Fourquet, J.-Y. ; Renaud, M.
Author_Institution :
LSIIT, Strasbourg, France
Abstract :
We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and maneuverability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.
Keywords :
manipulator kinematics; mobile robots; holonomic-nonholonomic system; kinematic control laws; nonholonomic mobile manipulator; robotic arm; wheeled mobile platform; Axles; Computational geometry; Intelligent robots; Kinematics; Legged locomotion; Manipulators; Mobile robots; Orbital robotics; Solid modeling; Wheels;
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
Print_ISBN :
0-7803-7736-2
DOI :
10.1109/ROBOT.2003.1241575
