Dynamically consistent Jacobian inverse for mobile manipulators

DOI10.1080/00207179.2015.1124144zbMath1338.93251OpenAlexW2196650748MaRDI QIDQ2807936

Joanna Ratajczak, Krzysztof Tchoń

Publication date: 25 May 2016

Published in: International Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207179.2015.1124144

zbMATH Keywords

kinematicsmotion planningdynamic consistencyJacobian algorithmendogenous configuration space approachmobile manipulator

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (3)

Dynamically consistent Jacobian inverse for non-holonomic robotic systems ⋮ Trajectory planning of a redundant planar manipulator based on joint classification and particle swarm optimization algorithm ⋮ Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target

Cites Work

• A continuation method for motion-planning problems
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Planning Algorithms
• Control of Nonholonomic Systems: from Sub-Riemannian Geometry to Motion Planning

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