Acceleration-driven kinematics of mobile manipulators: An endogenous configuration space approach

被引：0
|
作者：
Tchon, K [1 ]
Jakubiak, J [1 ]
机构：
[1] Wroclaw Tech Univ, Inst Engn Cybernet, PL-50372 Wroclaw, Poland
来源：
ON ADVANCES IN ROBOT KINEMATICS | 2004年
关键词：
mobile manipulator; affine representation; inverse kinematics;
D O I：
暂无
中图分类号：
O1 [数学];
学科分类号：
0701 ; 070101 ;
摘要：
Using the endogenous configuration space approach we study the inverse kinematic problem for mobile manipulators represented by an affine (not driftless) control system with outputs. A particular case of acceleration-driven mobile platform is addressed, and solved by means of a Jacobian pseudoinverse inverse kinematics algorithm. Performance of this algorithm has been illustrated with computer simulations involving the acceleration-driven kinematic car platform with RTR manipulator aboard.
引用
收藏
页码：469 / 476
页数：8
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