Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms

DOI10.1080/0020717031000149942zbMath1048.93074OpenAlexW2003078294MaRDI QIDQ4810925

Publication date: 17 August 2004

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

Full work available at URL: https://doi.org/10.1080/0020717031000149942

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60)

Related Items (12)

Lagrangian Jacobian inverse for nonholonomic robotic systems ⋮ Dynamically consistent Jacobian inverse for non-holonomic robotic systems ⋮ Constrained motion planning of nonholonomic systems ⋮ Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory ⋮ An exponential varying-parameter neural network for repetitive tracking of mobile manipulators ⋮ Iterative learning control and the singularity robust Jacobian inverse for mobile manipulators ⋮ Singularities of holonomic and non-holonomic robotic systems: a normal form approach ⋮ Impact of control representations on efficiency of local nonholonomic motion planning ⋮ Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators ⋮ Motion planning in velocity affine mechanical systems ⋮ Dynamically consistent Jacobian inverse for mobile manipulators ⋮ Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots

Cites Work

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