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《China Mechanical Engineering》 2006-14
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Manipulability Analysis for Omnidirectional Mobile Manipulators

Li Xinchun Zhao Dongbin Yi JianqiangInstitute of Automation,Chinese Academy of Sciences,Beijing,100080  
A generalized manipulability,which extended the conventional definition of manipulability for manipulators,was defined for mobile manipulators.The kinematics of the mobile manipulator,which consisted of an omnidirectional mobile platform and a holonomic manipulator mounted atop the platform,was set up.The effects resulted from the omnidirectional mobile platform on the (singular) configuration,manipulability and directional manipulability of the manipulator were analyzed(profoundly),and the results were compared with that of the wheeled mobile manipulator which was(subjected) to nonholonomic constraint.
【Fund】: 国家自然科学基金资助项目(60475030);; 科技部国际合作重点项目(2004DFB02100)
【CateGory Index】: TP241
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