A motion planner for a redundant mobile manipulator using the inverse kinematics /

This thesis is an effort to develop a powerful motion-planning algorithm for the mobile manipulator. The mobile manipulator is expected to work in partially defined or unstructured environments. In global/local approach, joint trajectories are generated for a desired cartesian space path. In an eve...

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Bibliographic Details

Main Author:	Gupta, Gautam Jagannath
Format:	Thesis eBook
Language:	English
Published:	[Place of publication not identified] : [publisher not identified] ; 2003.
Subjects:	Major mechanical engineering.
Online Access:	Link to OAKTrust copy