Paper Info
Title
The continuous inverse kinematic problem for mobile manipulators: a case study in the dynamic extension
Abstract
The continuous inverse kinematic problem amounts to computing a configuration of a mobile manipulator capable of producing a prescribed trajectory in the taskspace. By adopting a control system representation of kinematics of the mobile manipulator this problem is made equivalent to the problem of exact or asymptotic output tracking that may be solved by the dynamic extension algorithm. We study the continuous inverse kinematic problem for a mobile manipulator comprising a 3 DOF RTR manipulator mounted on a kinematic car type mobile platform. Our main result is a continuous asymptotic inverse kinematics algorithm employing dynamic state feedback. The performance of this inversion algorithm has been examined in computer simulations.
Year
DOI
Venue
2001
10.1109/ROBOT.2001.932981
ICRA
Keywords
Field
DocType
kinematic car type mobile platform,exact output tracking,taskspace,continuous inverse kinematic problem,mobile robots,state feedback,3 dof rtr manipulator,asymptotic output tracking,dynamic extension,dynamic state feedback,digital simulation,manipulator kinematics,position control,mobile manipulators,computer simulations,cybernetics,inverse kinematics,mobile computing,feedback,kinematics,control systems,computer simulation,mobile manipulator,control system,computer aided software engineering
Parallel manipulator,Dynamic Extension,Kinematics,Inverse kinematics,Control theory,Computer science,Control engineering,Control system,Mobile robot,Trajectory,Mobile manipulator
Conference
Volume
Issue
ISSN
3
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-6576-3
3
0.49
References 
Authors
1
2
Name
Order
Citations
PageRank
Janusz Jakubiak1176.35
Krzysztof Tchon25213.93