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A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators.

Krzysztof Tchoń·Janusz Jakubiak
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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.

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AlgorithmsBiomechanical PhenomenaComputer SimulationFeedbackLinear ModelsModels, TheoreticalMotionRoboticsEvaluation StudyJournal ArticleResearch Support, Non-U.S. Gov't

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Krzysztof Tchoń, Janusz Jakubiak. 2005. A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators.. https://doi.org/10.1109/tsmcb.2005.848495

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