Name
Abstract | ||
|---|---|---|
In the technical note we examine dynamic properties of the singularity robust Jacobian inverse kinematics algorithm for mobile manipulators. By design, this algorithm operates at regular as well as singular configurations. The main result of the technical note consists in establishing the completeness of the singularity robust algorithm, and in providing a condition for its convergence. Computer simulations illustrate the theory. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/TAC.2009.2017959 | IEEE Trans. Automat. Contr. |
Keywords | Field | DocType |
Robustness,Jacobian matrices,Kinematics,Manipulator dynamics,Control systems,Motion control,Mobile robots,Control system synthesis,Velocity control,Equations | Convergence (routing),Mathematical optimization,Kinematics,Jacobian matrix and determinant,Inverse kinematics,Control theory,Singularity,Robustness (computer science),Inverse problem,Robust control,Mathematics | Journal |
Volume | Issue | ISSN |
54 | 6 | 0018-9286 |
Citations | PageRank | References |
3 | 0.62 | 8 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Krzysztof Tchon | 1 | 52 | 13.93 |
| ¿ukasz Ma¿ek | 2 | 3 | 0.62 |