Inverse kinematics of a mobile robot

被引：18

作者：

de Jesus Rubio, Jose ^{[1
]}

Aquino, Victor ^{[1
]}

Figueroa, Maricela ^{[1
]}

机构：

[1] Inst Politecn Nacl, ESIME Azcapotzalco, Secc Estudios Posgrad & Invest, Mexico City, DF, Mexico

来源：

NEURAL COMPUTING & APPLICATIONS | 2013年 / 23卷 / 01期

关键词：

Forward kinematics; Inverse kinematics; Mobile robot; TRACKING CONTROL; LOCALIZATION; POSITION;

D O I：

10.1007/s00521-012-0854-0

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The problem of kinematics is to describe the motion of the robotic system without consideration of the forces and torques causing the motion. This paper presents two methods to obtain the inverse kinematics of a mobile robot. In the first method, two rows of the forward kinematics are selected, the inverse of these two rows is obtained, and later the inverse matrix is combined with the third row of the forward kinematics. In the second method, the pseudo-inverse matrix of the forward kinematics matrix is obtained. The comparison result of the two proposed methods is presented. Two simulations show the effectiveness of the proposed inverse kinematics algorithm.

引用

页码：187 / 194

页数：8

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