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Dynamics and Control of Mobile Manipulators

D. Rey, E. Papadopoulos Mobile platforms equipped with manipulator systems have been proposed to perform important missions in the construction, field, and space environments. Their missions will include such diverse tasks as earth removal operations, tree harvesting, handling of toxic and radioactive waste, and planetary exploration. In this research study, we focus on dynamics, planning and control problems found in mobile manipulator systems and aim to a better understanding of some of the fundamental problems introduced by the use of such systems.



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997