mobile robot + arm

I'm looking for links, books and journal articles that explain how to study kinematics, dynamics and control of a robotic arm locked into a
mobile platform (like a wheelchair).
I think is the same situation of an industrial robotic arm moved by a bridge crane or the drill operation in nasa exploration of mars.. anyone can help me?
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In an upcoming issue of Nuts N Volts, I cover inverse kinematics in my column.
There is also a spreadsheet that I did, which can be found at http://www.lynxmotion.com/images/html/proj057.htm
Mike

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