Dynamically consistent Jacobian inverse for mobile manipulators

DOI10.1080/00207179.2015.1124144MaRDI QIDQ2807936zbMATH OpenOpenAlexFDO

Authors Joanna Ratajczak, Krzysztof Tchoń

Publication date 25 May 2016

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2015.1124144

zbMATH Keywords

kinematicsmotion planningdynamic consistencyJacobian algorithmendogenous configuration space approachmobile manipulator

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• A continuation method for motion-planning problems
• Control of nonholonomic systems: from sub-Riemannian geometry to motion planning
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Planning Algorithms

Cited in

(7)

• On dynamically consistent Jacobian inverse for non-holonomic robotic systems
• Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target
• Trajectory planning of a redundant planar manipulator based on joint classification and particle swarm optimization algorithm
• scientific article; zbMATH DE number 1304587 (Why is no real title available?)
• Non-holonomic motion planning using dynamically consistent Jacobian inverse
• Dynamically consistent Jacobian inverse for non-holonomic robotic systems
• Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse

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