Name
Abstract | ||
|---|---|---|
We introduce and examine the property of repeatability of inverse kinematics algorithms for mobile manipulators. Similarly to stationary manipulators, repeatability of mobile manipulators is defined by requiring that a closed path in the task space should be transformed by the inverse kinematics algorithm into a closed path in the configuration space. In a simply connected, singularity-free region of the task space, a necessary and sufficient condition for repeatability is derived as the integrability condition of a distribution associated with the inverse kinematics algorithm. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/TAC.2002.801192 | IEEE Trans. Automat. Contr. |
Keywords | DocType | Volume |
Kinematics,Jacobian matrices,Space stations,Sufficient conditions,Algorithm design and analysis,Least squares methods,Control systems,Motion control,Design optimization,Cybernetics | Journal | 47 |
Issue | ISSN | Citations |
8 | 0018-9286 | 9 |
PageRank | References | Authors |
0.83 | 7 | 1 |