Fig.1

Two-wheeled nonholonomic mobile manipulator"

Fig.2

Nonholonomic mobile base model"

Fig.3

Structure diagram of Kinova Gen 3 manipulator"

Table 1

D-H parameter of Kinova Gen 3 manipulator"

Table 2

Joint motion range of Kinova Gen 3 manipulator"

Fig.4

Definition of link parameters by D-H method"

Fig.5

Circular trajectory tracking for the main task"

Fig.6

"8" trajectory tracking for the main task"

Fig.7

Manipulator joint motion in WMM end-effector's trajectory tracking"

Fig.8

Simulation results of "dual trajectory tracking""

Fig.9

Simulation results of "EE trajectory tracking only""

Fig.10

Manipulator joint motion in main-secondary coupled trajectory tracking"

Fig.11

Simulation results of joint limit avoidance"

Fig.12

Simulation results of singularity avoidance"

Fig.13

Visual simulation platform of the WMM"

Fig.14

Task scenario setting of the WMM"

Fig.15

Trajectory setting in the visual simulation"

Fig.16

Visual motion timing overlay diagram of the WMM"

Table 3

Task timing table of the visual simulation"

Fig.17

Motion trajectory of the WMM"

Fig.18

Motion error of the WMM"

Fig.19

Motion trajectories of the manipulator's joints and mobile platform's wheels"

Fig.20

Simulation results of the WMM's performance optimization"