WHEELED MOBILE MANIPULATOR MODELING FOR TASK SPACE CONTROL

Gastón H. Salazar-Silva, Jaime Álvarez Gallegos, Marco A. Moreno-Armendáriz

2011

Abstract

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.

Paper Citation

in Harvard Style

H. Salazar-Silva G., Álvarez Gallegos J. and A. Moreno-Armendáriz M. (2011). WHEELED MOBILE MANIPULATOR MODELING FOR TASK SPACE CONTROL . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 313-316. DOI: 10.5220/0003540203130316

in Bibtex Style

@conference{icinco11,
author={Gastón H. Salazar-Silva and Jaime Álvarez Gallegos and Marco A. Moreno-Armendáriz},
title={WHEELED MOBILE MANIPULATOR MODELING FOR TASK SPACE CONTROL},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={313-316},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003540203130316},
isbn={978-989-8425-75-1},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - WHEELED MOBILE MANIPULATOR MODELING FOR TASK SPACE CONTROL
SN - 978-989-8425-75-1
AU - H. Salazar-Silva G.
AU - Álvarez Gallegos J.
AU - A. Moreno-Armendáriz M.
PY - 2011
SP - 313
EP - 316
DO - 10.5220/0003540203130316