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Structural Analysis of Mobile Manipulators

  • Zine Elabidine ChebabEmail author
  • Jean-Christophe Fauroux
  • Grigore Gogu
  • Laurent Sabourin
  • Nicolas Bouton
  • Youcef Mezouar
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)

Abstract

This paper deals with the structural analysis of Mobile Manipulators (MMs). Most of the existing MMs were obtained by the association of a mobile platform with a standard six-DoF manipulator arm, thus leading to a redundant sub-optimal architecture. This kind of association does not take into account the structural parameters needed for the task or the specifications related to the environment. In this paper, a structural analysis is performed in order to caracterize the ability of a Mobile Manipulator (MM) to carry out a given task. A specific difficulty, covered by this work, is to represent the wheel-ground contact by an equivalent joint.

Keywords

mobile manipulators robotic cooperation structural analysis structural parameters 

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Notes

Acknowledgements

This project acknowledges the financial support of the following entities: LabExIMobS3 Innovative Mobility: Smart and Sustainable Solutions, the French National Centre for Scientific Research (CNRS), Auvergne Regional Council and the European funds of regional development (FEDER).

References

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Zine Elabidine Chebab
    • 1
    Email author
  • Jean-Christophe Fauroux
    • 1
  • Grigore Gogu
    • 1
  • Laurent Sabourin
    • 1
  • Nicolas Bouton
    • 1
  • Youcef Mezouar
    • 1
  1. 1.Institut Pascal, SIGMA Clermont, CNRS, Université Clermont AuvergneClermont–FerrandFrance

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