CHAPTER 17
Mobile Manipulation
CONTENTS
INTRODUCTION
Mobile manipulation can be illustrated by combining the Baxter model with our previous mobot mobile platform. The mobile manipulator can then take advantage of all of the developments presented in sections III (perception), IV (mobility) and V (manipulation).
17.1 Mobile manipulator model
The mobile-manipulator model is contained in the file baxteronmobot.xacro in the package baxtervariations. The contents of this model file are:
This model brings together a mobile base model (mobotbase.xacro), the Baxter model,
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