Aunified approach to motion control of mobile manipulators

摘要

This paper presents a simple on-line approach for motion control of mobile manipulators somprising a manipulator arm mounted on a mobile base. The proposed approach is equally applicable to nonholonomic mobile robots such as rover-mounted manipulators and holonomic mobile robots such as tracked robots and compound manipulators. For wheeled mobile robots, the nonholonomic base constraints are incorporated directly into the task formulation as kinematic constraints.