{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,26]],"date-time":"2025-10-26T14:11:53Z","timestamp":1761487913927},"reference-count":38,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2007,11,1]],"date-time":"2007-11-01T00:00:00Z","timestamp":1193875200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>We propose a new, control theoretic methodology for defining performance measures of mobile manipulators. As a guiding principle, we assume that the kinematics or the dynamics of a mobile manipulator are represented by the end point map of a control system with outputs, and that a locally controllable system yields nontrivial performance measures. In the paper, we focus on two categories of dynamic performance measures: the compliance measure and the admittance measure. In both these categories, the following local and global performance characteristics are introduced: the agility ellipsoid, the agility and mobility, the condition number and the distortion. The usefulness of new local measures is demonstrated on the example of determining optimal motion patterns of a wheeled mobile robot.<\/jats:p>","DOI":"10.1017\/s0263574707003803","type":"journal-article","created":{"date-parts":[[2007,9,10]],"date-time":"2007-09-10T09:56:16Z","timestamp":1189418176000},"page":"703-715","source":"Crossref","is-referenced-by-count":20,"title":["A control theory framework for performance evaluation of mobile manipulators"],"prefix":"10.1017","volume":"25","author":[{"given":"Katarzyna","family":"Zadarnowska","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Krzysztof","family":"Tcho\u0144","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2007,11,1]]},"reference":[{"key":"S0263574707003803_ref18","doi-asserted-by":"crossref","unstructured":"18. Bayle B. , Fourquet I. Y. and Renaud M. , \u201cManipulability Analysis for Mobile Manipulators,\u201d Proceedings of the 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea (2001) pp. 1251\u20131256.","DOI":"10.1109\/ROBOT.2001.932782"},{"key":"S0263574707003803_ref30","volume-title":"Mathematical Foundations of Elasticity","author":"Marsden","year":"1983"},{"key":"S0263574707003803_ref35","doi-asserted-by":"publisher","DOI":"10.1002\/rnc.4590050403"},{"key":"S0263574707003803_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2004.837243"},{"key":"S0263574707003803_ref27","doi-asserted-by":"publisher","DOI":"10.1177\/027836499301200101"},{"key":"S0263574707003803_ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.2912772"},{"key":"S0263574707003803_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/9.293207"},{"key":"S0263574707003803_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/70.388791"},{"key":"S0263574707003803_ref28","volume-title":"Advanced Robotics: Redundancy and Optimization","author":"Nakamura","year":"1991"},{"key":"S0263574707003803_ref29","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-0374-9"},{"key":"S0263574707003803_ref1","doi-asserted-by":"publisher","DOI":"10.1080\/0020717031000149942"},{"key":"S0263574707003803_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003708"},{"key":"S0263574707003803_ref23","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4020-2249-4_51"},{"key":"S0263574707003803_ref24","unstructured":"24. Zadarnowska K. , Performance Measures of Mobile Manipulators Ph. D Dissertation (Wroclaw, Poland: Insitute of Engineering Cybernetics, Wroc\u0142aw University of Technology, 2005) (in Polish)."},{"key":"S0263574707003803_ref16","doi-asserted-by":"crossref","unstructured":"16. Yamamoto Y. and Yun X. , \u201cUnified Analysis of Mobility and Manipulability of Mobile Manipulators,\u201d Proceedings of the 1999 IEEE International on Conference and Robotics Automation, Detroit, MI (1999) pp. 1200\u20131206.","DOI":"10.1109\/ROBOT.1999.772525"},{"key":"S0263574707003803_ref11","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1097-4563(200006)17:6<309::AID-ROB2>3.0.CO;2-9"},{"key":"S0263574707003803_ref31","volume-title":"Engineering Applications of Noncomutative Harmonic Analysis","author":"Chirikjian","year":"2001"},{"key":"S0263574707003803_ref34","doi-asserted-by":"crossref","unstructured":"34. Caracciolo L. , De Luca A. and Iannitti S. , \u201cTrajectory Tracking Control of a Four-Wheel Differentially Driven Mobile Robot,\u201d Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, MI, (1999) pp. 2632\u20132638.","DOI":"10.1109\/ROBOT.1999.773994"},{"key":"S0263574707003803_ref38","first-page":"1","volume-title":"Differential Geometric Control Theory","author":"Sussmann","year":"1983"},{"key":"S0263574707003803_ref19","doi-asserted-by":"crossref","unstructured":"19. Yamamoto Y. and Fukuda S. , \u201cTrajectory Planning of Multiple Mobile Manipulators with Collision Avoidance Capability,\u201d Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC (2002) pp. 3565\u20133570.","DOI":"10.1109\/ROBOT.2002.1014262"},{"key":"S0263574707003803_ref32","volume-title":"Calculus of Variations","author":"Gelfand","year":"1963"},{"key":"S0263574707003803_ref37","volume-title":"Report of the Institute of Computer Engineering, Control and Robotics","author":"Zadarnowska","year":"2006"},{"key":"S0263574707003803_ref2","doi-asserted-by":"publisher","DOI":"10.1177\/0278364906068374"},{"key":"S0263574707003803_ref3","first-page":"842","article-title":"Automatic supervisory control for the configuration and behavior of multibody mechanisms","volume":"7","author":"Liegeois","year":"1977","journal-title":"IEEE Trans. Syst. Man Cybern."},{"key":"S0263574707003803_ref4","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"S0263574707003803_ref5","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"key":"S0263574707003803_ref6","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"key":"S0263574707003803_ref7","doi-asserted-by":"publisher","DOI":"10.1177\/027836499601500106"},{"key":"S0263574707003803_ref10","doi-asserted-by":"publisher","DOI":"10.1177\/027836499401300101"},{"key":"S0263574707003803_ref12","unstructured":"12. Pamanes-Garcia J. A. , \u201cA criterion for Optimal Placement of Robotic Manipulators,\u201d Proceedings of the 6th IFAC International Symposium on Information Control Problems in Manufacturing Technology, Madrid, Spain (1987) pp. 183\u2013187."},{"key":"S0263574707003803_ref13","unstructured":"13. Angeles J. , \u201cThe Robust Design of Parallel Manipulators,\u201d Proceedings of the 1st International Colloqium of Collaborative Research Centre 562, Braunschweig, Germany (2002) pp. 9\u201330."},{"key":"S0263574707003803_ref17","doi-asserted-by":"crossref","unstructured":"17. Foulon G. , Fourquet I. Y. and Renaud M. , \u201cOn Coordinated Tasks for Nonholonomic Mobile Manipulators,\u201d Proceedings of the 5th IFAC Symposium on Robot Control, Nantes, France (1997) pp. 491\u2013498.","DOI":"10.1016\/S1474-6670(17)44306-0"},{"key":"S0263574707003803_ref20","doi-asserted-by":"publisher","DOI":"10.1177\/02783649030227007"},{"key":"S0263574707003803_ref21","unstructured":"21. 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