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

Krzysztof Tchoń; Janusz Jakubiak

doi:10.1109/tsmcb.2005.848495

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

IEEE Trans Syst Man Cybern B Cybern. 2005 Oct;35(5):1051-7. doi: 10.1109/tsmcb.2005.848495.

Authors

Krzysztof Tchoń¹, Janusz Jakubiak

Affiliation

¹ Institute of Engineering Cybernetics, Wrocław University of Technology, Poland. tchon@ict.pwr.wroc.pl

PMID: 16240778
DOI: 10.1109/tsmcb.2005.848495

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.

Publication types

Evaluation Study
Research Support, Non-U.S. Gov't

MeSH terms

Algorithms*
Biomechanical Phenomena / methods*
Computer Simulation
Feedback
Linear Models*
Models, Theoretical*
Motion
Robotics / methods*