On-line planning of nonholonomic mobile manipulators based on stability twist constraint

The stability of holonomic mobile manipulator can be improved effectively based on the stability twist constraint (STC). However, nonholonomic mobile manipulators are much more popular. In this paper, the stability of a nonholonomic mobile manipulator is improved with STC consideration. However, the constraint of nonholonomic mobility will affect the orientation of mobile base. Numerical simulations results are carried out for the nonholonomic mobile manipulator with different initial states to track the same trajectory of the end-effector.

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