Name
Abstract | ||
|---|---|---|
By analogy to the definition of the dynamically consistent Jacobian inverse for robotic manipulators, we have designed a dynamically consistent Jacobian inverse for mobile manipulators built of a non-holonomic mobile platform and a holonomic on-board manipulator. The endogenous configuration space approach has been exploited as a source of conceptual guidelines. The new inverse guarantees a decoupling of the motion in the operational space from the forces exerted in the endogenous configuration space and annihilated by the dual Jacobian inverse. A performance study of the new Jacobian inverse as a tool for motion planning is presented. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1080/00207179.2015.1124144 | INTERNATIONAL JOURNAL OF CONTROL |
Keywords | Field | DocType |
kinematics, endogenous configuration space approach, Jacobian algorithm, Mobile manipulator, dynamic consistency, motion planning | Motion planning,Inverse,Mathematical optimization,Kinematics,Holonomic,Jacobian matrix and determinant,Control theory,Decoupling (cosmology),Mathematics,Mobile manipulator,Configuration space | Journal |
Volume | Issue | ISSN |
89 | 6 | 0020-7179 |
Citations | PageRank | References |
1 | 0.48 | 7 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Joanna Ratajczak | 1 | 5 | 3.10 |
| Krzysztof Tchon | 2 | 52 | 13.93 |