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Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali
Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali
USF Tampa Graduate Theses and Dissertations
A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine the inverse kinematics of a mobile …