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Introduction to Mobile Robot Control
book

Introduction to Mobile Robot Control

by Spyros G Tzafestas
October 2013
Intermediate to advanced content levelIntermediate to advanced
750 pages
16h 52m
English
Elsevier
Content preview from Introduction to Mobile Robot Control
10

Mobile Manipulator Modeling and Control

Mobile manipulators (MMs) are robotic systems consisting of articulated arms (manipulators) mounted on holonomic or nonholonomic mobile platforms. They provide the dexterity of the former and the workspace extension of the latter. They are able to reach and work over objects that are initially outside the working space of the articulated arm. Therefore, MMs are appealing for many applications, and today they constitute the main body of service robots. One of the principal and most challenging problems in MMs research is to design accurate controllers for the entire system.

The objectives of this chapter are (i) to present the Denavit–Hartenberg method of articulated robots’ kinematic modeling, and provide ...

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Publisher Resources

ISBN: 9780124170490