DocumentCode
383174
Title
Kinematic control of wheeled mobile manipulators
Author
Bayle, B. ; Ourquet, J. Y F ; Lamiraux, Florent ; Renaud, M.
Author_Institution
LAAS-CNRS, Toulouse, France
Volume
2
fYear
2002
fDate
2002
Firstpage
1572
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN
0-7803-7398-7
Type
conf
DOI
10.1109/IRDS.2002.1043979
Filename
1043979
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