Mobile Manipulator Systems
Mobile manipulation capabilities are key to many new applications of robotics in space, underwater, construction, and service environments. In these applications, consideration of vehicle/arm dynamics is essential for robot coordination and control. This article discusses the inertial properties of holonomic mobile manipulation systems and presents the basic strategies developed for their dynamic coordination and control. These strategies are based on extensions of the operational space formulation, which provides the mathematical models for the description, analysis, and control of robot dynamics with respect to the task behavior.
KeywordsInternal Force Virtual Linkage Inertial Property Joint Force Redundant System
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