Abstract
This chapter deals with the problem of suitably coordinating the manoeuvring of a nonholonomic vehicle and the motin of a supported manipulation system (composed by one or two arms) when the overall system is commanded to execute a given grasping or manipulation task. The goal is that of suitably exploiting the extra degrees of freedom offered by the vehicle for better accomplishing the assigned task in a cooperative way.
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Casalino, G., Turetta, A. Coordination and Control of Multiarm Nonholonomic Mobile Manipulators. In: Siciliano, B., Melchiorri, C., De Luca, A., Casalino, G. (eds) Advances in Control of Articulated and Mobile Robots. Springer Tracts in Advanced Robotics, vol 10. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-44410-7_8
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DOI: https://doi.org/10.1007/978-3-540-44410-7_8
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-20783-2
Online ISBN: 978-3-540-44410-7
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