Mobile manipulators with implicit aboard kinematics

被引：0
|
作者：
Tchon, K [1 ]
Jakubiak, J [1 ]
Muszynski, R [1 ]
机构：
[1] Wroclaw Univ Technol, Inst Engn Cybernet, PL-50372 Wroclaw, Poland
来源：
PROCEEDINGS OF THE 11TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS 2003, VOL 1-3 | 2003年
关键词：
mobile manipulator; implicit kinematics; forward kinematics; inverse kinematics; Jacobian algorithm; parallel manipulator;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
We study the kinematics of a mobile manipulator composed of a nonholonomic mobile platform and one or more stationary aboard manipulators whose kinematics are defined implicitly. Combined with the platform kinematics this leads to implicitly defined instantaneous kinematics of the mobile manipulator. By extending the endogenous configuration space approach we have defined forward and inverse analytic Jacobians, and designed Jacobian pseudoinverse algorithms of forward and inverse mobile manipulator kinematics. Computer simulations of a kinematic car type platform equipped with a five bar mechanism illustrate the theory.
引用
收藏
页码：1635 / 1640
页数：6
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