Title :
A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators
Author :
K. Tchon;J. Jakubiak
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
Abstract :
On the basis of a geometric characterization of repeatability we present a repeatable extended Jacobian inverse kinematics algorithm for mobile manipulators. The algorithm´s dynamics have linear invariant subspaces in the configuration space. A standard Ritz approximation of platform controls results in a band-limited version of this algorithm. Computer simulations involving an RTR manipulator mounted on a kinematic car-type mobile platform are used in order to illustrate repeatability and performance of the algorithm.
Keywords :
"Kinematics","Jacobian matrices","Manipulator dynamics","Mobile robots","Orbital robotics","Motion control","Space technology","Heuristic algorithms","Approximation algorithms","Computer simulation"
Journal_Title :
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics)
DOI :
10.1109/TSMCB.2005.848495