Kinematic modelling of wheeled mobile manipulators

被引：0
|
作者：
Bayle, B [1 ]
Fourquet, JY [1 ]
Renaud, M [1 ]
机构：
[1] LSIIT, Strasbourg, France
来源：
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
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 manoeuvrability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.
引用
收藏
页码：69 / 74
页数：6
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