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.

• Type: Conference
• Year: 2003
• Where: ICRA
• Authors: Bernard Bayle, Jean-Yves Fourquet, Marc Renaud
• Keywords: Hybrid Holonomic/nonholonomic Systems, ICRA 2003, Kinematic Control Laws, Nonholonomic Mobile Manipulators, Robotics