On predictive approach to inverse kinematics of mobile manipulators

被引：0
|
作者：
Muszynski, Robert [1 ]
Jakubiak, Janusz [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Comp Engn Control & Robot, PL-50372 Wroclaw, Poland
来源：
2007 IEEE INTERNATIONAL CONFERENCE ON CONTROL AND AUTOMATION, VOLS 1-7 | 2007年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we study the inverse kinematic problem for mobile manipulators, consisting of a nonholonomic mobile platform with a manipulator mounted atop of it. Inverse kinematics is defined in terms of the endogenous configuration framework. We propose a general algorithm of finding inverse kinematics based on the model predictive control approach. As an exemplification of this algorithm we present a generalization of one of the Jacobian inverse kinematic algorithms. The method properties are analyzed in simulations.
引用
收藏
页码：533 / 538
页数：6
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