Kinematic control of wheeled mobile manipulators

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.

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Bibliographic Details
Main Authors: Bayle, B., Fourquet, J.-Y., Lamiraux, F., Renaud, M.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Artificial intelligence
Computer science
control theory
systems
Control systems
Control theory
Control theory. Systems
End effectors
Exact sciences and technology
Kinematics
Manipulator dynamics
Motion control
Motion planning
Optimization methods
Path planning
Pattern recognition. Digital image processing. Computational geometry
Robotics
Robots
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Description
Summary: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.
DOI:10.1109/IRDS.2002.1043979