Szukana fraza: [Abstract = "The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input\-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach."]

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