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《Journal of Tianjin University of Technology》 2006-06
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Mobile manipulator kinematics model and manipulability measure

LI Na,ZHAO Xin-hua (School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300191,China)  
This paper analyses the kinematics of a mobile manipulator consisting of a 4-DOF manipulator arm mounted on the 3-DOF mobile platform.The platform has two driving wheels driven by two DC motors.According to the analysis,the united differential kinematics model is achieved.In the end,the manipulability measures of the mobile manipulator and mobile platform are discussed,and one conclusion that the motion of mobile manipulator has no effect on manipulability measure of the manipulator arm in certain configuration is drawn.
【Fund】: 天津市高等学校科技发展基金(2004BA06)
【CateGory Index】: TP241
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