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ICRA
2003
IEEE

Kinematic Modelling of Wheeled Mobile Manipulators

10 years 5 months ago
Kinematic Modelling of Wheeled Mobile Manipulators
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 manœuvrability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.
Bernard Bayle, Jean-Yves Fourquet, Marc Renaud
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors Bernard Bayle, Jean-Yves Fourquet, Marc Renaud
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