The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits. joint velocity limits. self-collisions and singularities. Most motion planning algorithms consider some of the aforementioned constraints. https://www.diegojavierfares.com/amazing-price-Kicker-48CDF104-Comp-10-Down-Firing-Loaded-Subwoofer-Enclosure-special-find/