Abstract
This paper deals with coordinated tasks for mobile nonholonomic manipulators. The systems are composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. First, concepts such as redundancy and singular configurations are defined. Then, reduced differential models are introduced. It is then possible to work with a set of independent task coordinates. Applications follow for a planar system in the case of point-to-point and continuous path tasks.
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