Title :
Kinematic control of wheeled mobile manipulators
Author :
Bayle, B. ; Ourquet, J. Y F ; Lamiraux, Florent ; Renaud, M.
Author_Institution :
LAAS-CNRS, Toulouse, France
Abstract :
We propose a generic scheme to solve the kinematic control problem of wheeled mobile manipulators when the operational motion is imposed. We generalize the Additional Task Method to solve the control problem of these redundant nonholonomic systems.
Keywords :
control system synthesis; mobile robots; path planning; redundant manipulators; additional task method; control problem; generic scheme; imposed end effector motion; inverse kinematics problem; kinematic control; motion planning problem; operational motion; path planning problem; redundant nonholonomic systems; servoing scheme; wheeled mobile manipulators; Control systems; Control theory; End effectors; Kinematics; Manipulator dynamics; Motion control; Motion planning; Optimization methods; Path planning; Robots;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1043979
