Dynamically consistent Jacobian inverse for mobile manipulators |
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Authors: | Joanna Ratajczak Krzysztof Tchoń |
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Affiliation: | 1. Electronics Faculty, Wroc?aw University of Technology, Wroc?aw, Polandjoanna.ratajczak@pwr.edu.pl;3. Electronics Faculty, Wroc?aw University of Technology, Wroc?aw, Poland |
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Abstract: | 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. |
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Keywords: | Mobile manipulator kinematics motion planning Jacobian algorithm dynamic consistency endogenous configuration space approach |
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