Vehicle Manoeuvring and Multiarm Motion Coordination within Space Manipulation

Abstract

The paper deals with the problem of suitably coordinating the manoeuvring of a non-holonomic vehicle and the motion of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The objective being clearly that of suitably exploiting the extra dof’s offered by the… (More)

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