轮式移动机械臂的运动学建模

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) Pub Date : 2003-11-10 DOI:10.1109/ROBOT.2003.1241575

B. Bayle, J. Fourquet, M. Renaud

{"title":"轮式移动机械臂的运动学建模","authors":"B. Bayle, J. Fourquet, M. Renaud","doi":"10.1109/ROBOT.2003.1241575","DOIUrl":null,"url":null,"abstract":"We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and maneuverability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.","PeriodicalId":315346,"journal":{"name":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","volume":"124 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2003-11-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":"{\"title\":\"Kinematic modelling of wheeled mobile manipulators\",\"authors\":\"B. Bayle, J. Fourquet, M. Renaud\",\"doi\":\"10.1109/ROBOT.2003.1241575\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and maneuverability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.\",\"PeriodicalId\":315346,\"journal\":{\"name\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"volume\":\"124 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2003-11-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"20\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2003.1241575\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2003.1241575","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 20

摘要

提出了一种基于轮式移动平台的机械臂非完整移动机械臂的系统建模方法。它将非完整、可移动性和可操作性的基本概念扩展到这些混合完整/非完整系统的情况。它为运动控制律的设计者提供了明确的定义和模型。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Kinematic modelling of wheeled mobile manipulators

We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and maneuverability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

自引率

0.00%

发文量