Definition
Wheeled Mobile Manipulator: a robot system consisting of a wheeled mobile platform and one or more serial- or parallel-chain manipulator arms
Task Space (or Cartesian Space): space of positions and orientations of the end-effector frame
Joint Space: vector space defined by translational and angular displacements of robot joints
Forward (Position/Velocity/Acceleration) Kinematics: functional mapping of joint displacements/velocities/accelerations to end-effector frame pose/velocities/ accelerations
Inverse (Position/Velocity/Acceleration) Kinematics: functional mapping of pose/velocity/ acceleration of end-effector reference frame to joint displacements/velocity/accelerations
Null Space: the linear subspace of the joint velocity space in which the movements of joints will not affect the end-effector velocities
Design Optimization: systematic creation of alternatives, evaluation of choices, and down selection among these
Workspace:set of configurations reachable by the...
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Tang, C., Jia, Y., Krovi, V.N. (2023). Mobile Manipulators. In: Ang, M.H., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_45-1
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