Dynamically consistent Jacobian inverse for non-holonomic robotic systems

DOI10.1007/s11071-016-2672-xzbMath1349.70029OpenAlexW2285408663WikidataQ59472174 ScholiaQ59472174MaRDI QIDQ341640

Joanna Ratajczak, Krzysztof Tchoń

Publication date: 16 November 2016

Published in: Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s11071-016-2672-x

zbMATH Keywords

motion planningdynamic consistencyendogenous configuration space approachJacobian inversenon-holonomic system

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Nonholonomic systems related to the dynamics of a system of particles (70F25)

Related Items (1)

Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot

Cites Work

• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Generalized inverses. Theory and applications.
• Dynamically consistent Jacobian inverse for mobile manipulators
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Non-holonomic motion planning using dynamically consistent Jacobian inverse
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