TY - GEN
T1 - Wheeled mobile manipulator modeling for task space control
AU - Salazar-Silva, Gastón H.
AU - Gallegos, Jaime Álvarez
AU - Moreno-Armendáriz, Marco A.
PY - 2011
Y1 - 2011
N2 - Mobile manipulators have attracted a lot attention lately because they have many advantages over stationary manipulator, such as larger a work space than a stationary manipulator could have in practice. However, the proposed methods in the state of the art to obtain the kinematic model of a mobile manipulator are based in modeling separately the mobile base and the manipulator arm, and later combining both models. This paper shows a systematic approach to obtain the kinematic model of mobile manipulators that transforms in the modeling problem of a stationary manipulator with non-holonomic kinematic constraints in the joints; it is also showed an example of the application of the method, where the kinematic and dynamic models are obtained with extensions of the same tools used in stationary robots.
AB - Mobile manipulators have attracted a lot attention lately because they have many advantages over stationary manipulator, such as larger a work space than a stationary manipulator could have in practice. However, the proposed methods in the state of the art to obtain the kinematic model of a mobile manipulator are based in modeling separately the mobile base and the manipulator arm, and later combining both models. This paper shows a systematic approach to obtain the kinematic model of mobile manipulators that transforms in the modeling problem of a stationary manipulator with non-holonomic kinematic constraints in the joints; it is also showed an example of the application of the method, where the kinematic and dynamic models are obtained with extensions of the same tools used in stationary robots.
KW - Mobile robots
KW - Robot control
KW - Robots kinematics
UR - http://www.scopus.com/inward/record.url?scp=80052565518&partnerID=8YFLogxK
M3 - Contribución a la conferencia
AN - SCOPUS:80052565518
SN - 9789898425751
T3 - ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
SP - 313
EP - 316
BT - ICINCO 2011 - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics
T2 - 8th International Conference on Informatics in Control, Automation and Robotics, ICINCO 2011
Y2 - 28 July 2011 through 31 July 2011
ER -