A mobile manipulator is composed of a mobile platform and a stationary manipulator fixed to the platform. In order to achieve the coordinated motion control of mobile manipulators

the mobile platform and the manipulator have to fulfill tasks simultaneously. According to the analysis of kinematics for the mobile manipulator

a coordinated motion scheme based on the minimum velocity norm is proposed and investigated. Such a scheme can not only control the motion of the mobile platform

but also coordinate the manipulator to complete tasks simultaneously. Besides

the coordinated motion scheme can be converted equivalently to a standard quadratic program

which can be solved by an effective numerical algorithm. Finally

the mobile manipulator is applied to perform a circular path and the corresponding simulative results validate the effectiveness of the coordinated motion scheme.