Kinematic Coupling of a Mobile Manipulation System

A mobile manipulation system is a robotic system consisting of having a manipulator robot mounted on a holonomic or non-holonomic mobile robot. These types of systems provide the dexterity of the manipulator robot and the extension of the mobile robot's workspace and are capable of reaching and working on objects that are initially outside the workspace of the manipulator robot, therefore, these prototypes are attractive to many applications. In this work, the complete kinematic modeling of a mobile manipulation system is carried out, obtained as a result of coupling the kinematic model of an anthropomorphic manipulator robot with three degrees of freedom and a four-wheel mobile robot of differential configuration in which it considers the longitudinal slippage of the wheels as a part of their modeling.