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

Affiliation: Instituto Politécnico Nacional, Mexico

ISBN: 978-989-8425-75-1

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.

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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 2: ICINCO, ISBN 978-989-8425-75-1, 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 2: ICINCO,},
year={2011},
pages={313-316},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003540203130316},
isbn={978-989-8425-75-1},
}

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

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