Paper Info
Title
Iterative Learning Control And The Singularity Robust Jacobian Inverse For Mobile Manipulators
Abstract
The method of iterative learning control, to a large extent, has been inspired by robotics research, focused on the control of stationary manipulators. In this article we deal with the inverse kinematics problem for mobile manipulators, and show that a very basic singularity robust Jacobian inverse can be derived in a natural way within the framework of iterative learning control. To achieve this objective we have exploited the endogenous configuration space approach. The introduced Jacobian inverse defines the singularity robust Jacobian inverse kinematics algorithm for mobile manipulators. A Kantorovich-type estimate of the region of guaranteed convergence of the algorithm is derived. For two example kinematics, this estimate has been computed efficiently.
Year
DOI
Venue
2010
10.1080/00207179.2010.513715
INTERNATIONAL JOURNAL OF CONTROL
Keywords
Field
DocType
mobile manipulator, inverse kinematics, iterative learning control, Jacobian algorithm
Mathematical optimization,Kinematics,Jacobian matrix and determinant,Inverse kinematics,Iterative method,Repetitive control,Control theory,Singularity,Inverse problem,Iterative learning control,Mathematics
Journal
Volume
Issue
ISSN
83
11
0020-7179
Citations 
PageRank 
References 
1
0.40
3
Authors
1
Name
Order
Citations
PageRank
Krzysztof Tchon15213.93