Abstract
We consider the kinematics of a mobile manipulator composed of a nonholonomic mobile platform and a holonomic manipulator mounted on the platform. Velocity constraints imposed on the platform motion and the structure of the mobile manipulator taskspace translate naturally into a description of the kinematics by means of a driftless control system with outputs. An endogenous configuration of the mobile manipulator includes the control function of the platform and the joint position of the manipulator. We introduce the kinematic dexterity ellipsoid and study the isotropy of an endogenous configuration measured by its condition number. As an illustration, isotropic configurations are computed for an exemplary mobile manipulator built of a unicycle type platform with a double pendulum manipulator aboard.
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