Dynamically consistent Jacobian inverse for mobile manipulators

作     者：Ratajczak, Joanna Tchon, Krzysztof 

作者机构：Wroclaw Univ Technol Elect Fac PL-50370 Wroclaw Poland 

出 版 物：《INTERNATIONAL JOURNAL OF CONTROL》 (国际控制杂志)

年 卷 期：2016年第89卷第6期

页      面：1159-1168页

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

基　　金：National Science Centre  Poland [DEC-2013/09/B/ST7/02368] 

主　　题：kinematics endogenous configuration space approach Jacobian algorithm Mobile manipulator dynamic consistency motion planning 

摘      要：By analogy to the definition of the dynamically consistent Jacobian inverse for robotic manipulators, we have designed a dynamically consistent Jacobian inverse for mobile manipulators built of a non-holonomic mobile platform and a holonomic on-board manipulator. The endogenous configuration space approach has been exploited as a source of conceptual guidelines. The new inverse guarantees a decoupling of the motion in the operational space from the forces exerted in the endogenous configuration space and annihilated by the dual Jacobian inverse. A performance study of the new Jacobian inverse as a tool for motion planning is presented.