A Coordination Strategy for

  • MobileManipulationBernard Bayley, Jean-Yves Fourquetz, Marc Renaudyy
  • Published 2000

Abstract

We present a generalized path generation algorithm for a non-holonomic mobile manipulator built from an n joint manipulator mounted on a nonholonomic mobile platform. The manipulator end-eeector path is imposed by the task whereas the natural redundancy of the system is used to achieve a secondary task. We describe the algorithm which calculates the… (More)

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