loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Gastón H. Salazar-Silva ; Jaime Álvarez Gallegos and Marco A. Moreno-Armendáriz

Affiliation: Instituto Politécnico Nacional, Mexico

Keyword(s): Robot control, Mobile robots, Robots kinematics.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation

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.

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.129.39.85

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
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 1: ICINCO; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 313-316. DOI: 10.5220/0003540203130316

@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 1: ICINCO},
year={2011},
pages={313-316},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003540203130316},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - WHEELED MOBILE MANIPULATOR MODELING FOR TASK SPACE CONTROL
SN - 978-989-8425-75-1
IS - 2184-2809
AU - H. Salazar-Silva, G.
AU - Álvarez Gallegos, J.
AU - A. Moreno-Armendáriz, M.
PY - 2011
SP - 313
EP - 316
DO - 10.5220/0003540203130316
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: info@scitepress.org

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic