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Robot Motion and Control 2007 pp 209–217Cite as

Kinematic Motion Patterns of Mobile Manipulators

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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 360))

Abstract

We address the problem of performance evaluation of mobile manipulators. It seems that this area has not been explored systematically in the literature; a list of representative references includes [6, 2, 7, 8, 1, 3].

This research has been supported by the Foundation for Polish Science.

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References

  1. B. Bayle, J.-Y. Fourquet, M. Renaud (2003) Manipulability of wheeled mobile manipulators: application to motion generation. Int. J. Robot. Res. 22(7–8):565–581.

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  2. G. Foulon, I.Y. Fourquet, M. Renaud (1997) On coordinated taskes for nonholonomic mobile manipulators. Proc. 5th IFAC Symp. Robot Control, Nantes, France 491–498.

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  5. K. Tcho´n, K. Zadarnowska (2003) Kinematic dexterity of mobile manipulators: an endogenous configuration space approach. Robotica 21:521–530.

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  6. Y. Yamamoto, X. Yun (1994) Coordinating locomotion and manipulation of a mobile manipulator. IEEE Trans. Automat. Contr. 39(6):1326–1332.

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  7. Y. Yamamoto, X. Yun (1999) Unified analysis of mobility and manipulability of mobile manipulators. Proc. 1999 IEEE Int. Conf. Robot. Automat., Detroit, MI 1200–1206.

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  8. Y. Yamamoto, S. Fukuda (2002) Trajectory planning of multiple mobile manipulators with collision avoidance capability. Proc. 2002 IEEE Int. Conf. Robot. Automat., Washington, DC 3565–3570.

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  9. K. Zadarnowska, K. Tcho´n (2006) A control theory framework for performance evaluation of mobile manipulators. Submitted for publication.

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Author information

Authors and Affiliations

  1. Institute of Computer Engineering, Control, and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland

    Katarzyna Zadarnowska & Krzysztof Tchoń

Authors
  1. Katarzyna Zadarnowska
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  2. Krzysztof Tchoń
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Editor information

Editors and Affiliations

  1. Institute of Control and Systems Engineering, Poznan University of Technology , ul. Piotrowo 3a, 60-965, Poznań, Poland

    Krzysztof Kozłowski

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© 2007 Springer London

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Zadarnowska, K., Tchoń, K. (2007). Kinematic Motion Patterns of Mobile Manipulators. In: Kozłowski, K. (eds) Robot Motion and Control 2007. Lecture Notes in Control and Information Sciences, vol 360. Springer, London. https://doi.org/10.1007/978-1-84628-974-3_18

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  • DOI: https://doi.org/10.1007/978-1-84628-974-3_18

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-84628-973-6

  • Online ISBN: 978-1-84628-974-3

  • eBook Packages: EngineeringEngineering (R0)

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