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Manipulability analysis for mobile manipulators

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 13 Nov 2002Publisher:IEEEJournal:Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), volume 2, pages 1,251-1,256
Authors: Bernard Bayle; Jean-Yves Fourquet; Marc Renaud;

doi: 10.1109/robot.2001.932782

Manipulability analysis for mobile manipulators

Abstract

We extend the standard definition of manipulability to the case of a nonholonomic mobile manipulator built from an n joint robotic arm and a nonholonomic mobile platform. The effects of mounting the arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Applications of criteria inherited from manipulability considerations are given to justify design and to generate the controls of our system.

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selected citations
These citations are derived from selected sources.
This is an alternative to the "Influence" indicator, which also reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Citations provided by BIP!
popularity
This indicator reflects the "current" impact/attention (the "hype") of an article in the research community at large, based on the underlying citation network.
BIP!Popularity provided by BIP!
influence
This indicator reflects the overall/total impact of an article in the research community at large, based on the underlying citation network (diachronically).
BIP!Influence provided by BIP!
impulse
This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.
BIP!Impulse provided by BIP!
53
Top 10%
Top 10%
Top 10%
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