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When the NMM is redundant with respect to the given task, we provide an extension of two well-known redundancy resolution methods for fixed-base manipulators (Projected Gradient and Task Priority) and introduce a novel technique (Task Sequencing) aimed at improving performance, e.g., avoiding singularities. The proposed methods are applied then to the specific case of image-based visual servoing, where the NMM image Jacobian combines the interaction matrix and the kinematic model of the mobile manipulator. Comparative numerical results are presented for two case studies.<\/jats:p>","DOI":"10.1017\/s0263574706003262","type":"journal-article","created":{"date-parts":[[2007,2,12]],"date-time":"2007-02-12T10:46:37Z","timestamp":1171277197000},"page":"131-145","source":"Crossref","is-referenced-by-count":42,"title":["Image-based visual servoing schemes for nonholonomic mobile manipulators"],"prefix":"10.1017","volume":"25","author":[{"given":"Alessandro","family":"De Luca","sequence":"first","affiliation":[]},{"given":"Giuseppe","family":"Oriolo","sequence":"additional","affiliation":[]},{"given":"Paolo Robuffo","family":"Giordano","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2007,3,1]]},"reference":[{"key":"S0263574706003262_N104E9","doi-asserted-by":"publisher","DOI":"10.1109\/70.760345"},{"key":"S0263574706003262_N104B6","doi-asserted-by":"crossref","unstructured":"23. Malis E. and Rives P. . \u201cRobustness of image-based visual servoing with respect to depth distribution errors.\u201d Proceedings of the 2003 IEEE International Conference on Robotics and Automation 2003) pp. 1056\u20131061.","DOI":"10.1109\/ROBOT.2003.1241732"},{"key":"S0263574706003262_N1044B","volume-title":"Robot Control: The Task Function Approach","author":"Samson","year":"1991"},{"key":"S0263574706003262_N10397","unstructured":"17. Sanderson A. C. and Weiss L. 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