We propose a systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several applications are evoked, particularly applications to control. The optimization of criteria inherited from manipulability considerations are given to generate the controls of our system when its end effector motion is imposed.
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