Author : V. Padois, J.-Y. Fourquet and P. Chiron

• Keywords : mobile manipulation, instantaneous kinematics, nonholonomy, motion generation

The task definition for mobile manipulators is presented. Then, a generic formulation of global instantaneous
kinematics is proposed for wheeled mobile manipulators. It is compared with the classical kinematic modelling
of robotic arms. In particular, it is shown that many tools of classical manipulation can be re-used in this new
framework. Finally, simulation results and experiments are presented and the remaining industrial challenges are
mentioned. So, this article provides comprehensive bases for the use of such systems in an industrial context.