DocumentCode
2437761
Title
A consistent kinematic modeling method for mobile manipulators
Author
Cheong, Joono
Author_Institution
Dept. of Control & Instrum. Eng., Korea Univ., Jochiwon, South Korea
fYear
2010
fDate
7-10 Dec. 2010
Firstpage
805
Lastpage
810
Abstract
In this paper, a consistent kinematic modeling method for mobile manipulators is proposed. We transform the mobile manipulators into conventional manipulators via appropriate change of kinematic structure. Consequently, analyses of kinematics for mobile manipulators can be conveniently carried out with the transformed manipulators. Cases of differential-drive and car-like types of mobile platforms are formulated, but theoretically not limited to these.
Keywords
manipulator kinematics; mobile robots; kinematic modeling; kinematic structure; mobile manipulator; mobile platform; Jacobian matrices; Joints; Kinematics; Manipulator dynamics; Mobile communication; Mobile manipulator; nonholonomic constraint;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Automation Robotics & Vision (ICARCV), 2010 11th International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-7814-9
Type
conf
DOI
10.1109/ICARCV.2010.5707827
Filename
5707827
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