This article describes some aspects of the control system design for a four-wheel mobile platform with individual wheel-steering equipped with two redundant robotic arms. The considered control issues include different ways of platform maneuvering as well as a solution of inverse kinematics problem for a redundant arm with an original approach to redundancy resolution depending on operator’s intention.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.