Abstract
In this paper, the problem of coordinated motion control of a nonholonomic mobile platform with a serial manipulator mounted on top of the platform is addressed. The redundancy resolution algorithm hases on a constraint optimization approach, where the non—holonomic behaviour of the platform is modeled into inequality constraints leading to a convex optimization problem.
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Schreiber, G., Hirzinger, G. (2002). Realtime Coordinated Redundant Motion of a Nonholonomic Mobile Manipulator. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_23
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DOI: https://doi.org/10.1007/978-94-017-0657-5_23
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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