Name
Title | ||
|---|---|---|
A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators. |
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. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/TSMCB.2005.848495 | Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions |
Keywords | Field | DocType |
repeatable inverse kinematics algorithm,rtr manipulator,geometric characterization,linear invariant subspaces,band-limited version,standard ritz approximation,jacobian inverse kinematics algorithm,configuration space,kinematic car-type mobile platform,mobile manipulator,computer simulation,path planning,inverse kinematics,geometry | Motion planning,Mathematical optimization,Kinematics,Jacobian matrix and determinant,Inverse kinematics,Control theory,Computer science,Algorithm,Linear subspace,Invariant (mathematics),Mobile manipulator,Configuration space | Journal |
Volume | Issue | ISSN |
35 | 5 | 1083-4419 |
Citations | PageRank | References |
12 | 0.95 | 13 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| K. Tchon | 1 | 63 | 6.08 |
| Janusz Jakubiak | 2 | 12 | 0.95 |