WHEELED MOBILE MANIPULATOR MODELING FOR TASK SPACE CONTROL

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

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.

References

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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