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Non-holonomic Constrains for a Mobile Manipulator

Vladimir Prada-Jiménez 1, Paola A. Niño-Suárez 2, and Mauricio F. Mauledoux-Monroy 3
1. Universidad Central/Ingeniería Electrónica, Bogotá, Colombia
2. Instituto Politécnico Nacional. Ciudad de México, México
3. Universidad Militar Nueva Granada/Ingeniería Mecatrónica. Bogotá, Colombia

Abstract—Currently, there is a great scientific and technological interest in the development of mobile manipulators. It can be evidenced not only in the numerous scientific publications but also in research to develop applied technologies in this field. One of the challenges that has generated great interest is to obtain the Non-holonomic constrains of a mobile manipulator. Therefore, the main objective of this paper is to contribute to the knowledge to obtain the Non-holonomic constrains and therefore the coupled kinematic and dynamic model of a mobile manipulator. 

Index Terms—anthropomorphic, constraints, differential, manipulator, mobile, model, non-holonomic

Cite: Vladimir Prada-Jiménez, Paola A. Niño-Suárez, and Mauricio F. Mauledoux-Monroy, "Non-holonomic Constrains for a Mobile Manipulator" International Journal of Mechanical Engineering and Robotics Research, Vol. 9, No. 1, pp. 56-59, January 2020. DOI: 10.18178/ijmerr.9.1.56-59