IEEE - Institute of Electrical and Electronics Engineers, Inc. - Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels

2010 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): De Luca, A. ; Oriolo, G. ; Giordano, P.R.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2010
Conference Location: Anchorage, AK, USA, USA
Conference Date: 3 May 2010
Page(s): 1,792 - 1,798
ISBN (CD): 978-1-4244-5040-4
ISBN (Paper): 978-1-4244-5038-1
ISSN (CD): 1050-4729
ISSN (Paper): 1050-4729
DOI: 10.1109/ROBOT.2010.5509570
Regular:

We consider the kinematic control problem for nonholonomic mobile manipulators (NMMs) whose base contains steering wheels. For all typical tasks, the steering velocity inputs of such systems do... View More

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