Title: Optimal Configurator of Wheeled Mobile Manipulator
Abstract: In order to obtain the essence relation between mobile platform and manipulator, wheeled mobile manipulator's optimal configuration was discussed based on simplified mobile manipulator and equivalent mass matrix, then the relation between the direction of maximal manipulability and mobility manipulator's configurations was derived. The relation will be a base for further investigating mobile manipulator's coordination.
Publication Year: 2000
Publication Date: 2000-01-01
Language: en
Type: article
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