A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators.
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.
Tchoń
Krzysztof
K
Institute of Engineering Cybernetics, Wrocław University of Technology, Poland. tchon@ict.pwr.wroc.pl
Jakubiak
Janusz
J
D000465:Algorithms; D001696:Biomechanical Phenomena / Q000379:methods*; D003198:Computer Simulation; D005246:Feedback; D016014:Linear Models; D008962:Models, Theoretical; D009038:Motion; D012371:Robotics / Q000379:methods*