Title :
Coordination and control of multiarm, non-holonomic mobile manipulators
Author :
Casalino, Giuseppe ; Turetta, Alessio
Author_Institution :
DIST, Genova Univ., Italy
Abstract :
The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of suitably exploiting the extra dof´s offered by the vehicle for better accomplishing the assigned task in a cooperative way.
Keywords :
manipulators; mobile robots; motion control; velocity control; multiarm control; multiarm coordination; multiarm nonholonomic mobile manipulators; supported manipulation system motion; Arm; Ellipsoids; Jacobian matrices; Manipulators; Mobile robots; Motion analysis; Motion control; Motion planning; Robot kinematics; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249198
