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The International Journal of Robotics Research
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Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

B. Bayle

LSIIT Strasbourg, France, bernard{at}eavr.u-strasbg.fr

J. -Y. Fourquet

ENIT Tarbes, France, fourquet{at}enit.fr

M. Renaud

LAAS-CNRS Toulouse, France, renaud{at}laas.fr

We propose a systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several applications are evoked, particularly applications to control. The optimization of criteria inherited from manipulability considerations are given to generate the controls of our system when its end effector motion is imposed.

Key Words: mobile manipulation • manipulability • nonholonomy • motion planning

The International Journal of Robotics Research, Vol. 22, No. 7-8, 565-581 (2003)
DOI: 10.1177/02783649030227007
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M. Fruchard, P. Morin, and C. Samson
A Framework for the Control of Nonholonomic Mobile Manipulators
The International Journal of Robotics Research, August 1, 2006; 25(8): 745 - 780.
[Abstract] [PDF]