Kinematics and manipulability of wheeled mobile manipulators

被引：0
|
作者：
Ambrozy, A. [1 ]
Chovanec, A. [1 ]
机构：
[1] A Dubcek Univ Trencin, Trencin 91150, Slovakia
来源：
TRANSPORT MEANS 2006, PROCEEDINGS | 2006年
关键词：
mobile manipulation; manipulability; motion; kinematics; velocities; manipulation system;
D O I：
暂无
中图分类号：
U [交通运输];
学科分类号：
08 ; 0823 ;
摘要：
We propose a systematic model of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. Actually, there is no efficient kinematic formalism for these systems which are generally characterized by their high number of actuators. So, kinematic modelling is presented with particular emphasis on redundancy. Reduced velocity kinematics based on quasi-velocities are shown to provide an efficient formalism.
引用
收藏
页码：45 / 50
页数：6
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