Dynamically consistent Jacobian inverse for non-holonomic robotic systems

DOI10.1007/S11071-016-2672-XMaRDI QIDQ341640zbMATH OpenOpenAlexWikidataFDO

Authors Krzysztof Tchoń, Joanna Ratajczak

Publication date 16 November 2016

Published in Nonlinear Dynamics (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1007/s11071-016-2672-x

zbMATH Keywords

motion planningdynamic consistencyendogenous configuration space approachJacobian inversenon-holonomic system

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45)

Recommendations

• On dynamically consistent Jacobian inverse for non-holonomic robotic systems
• Non-holonomic motion planning using dynamically consistent Jacobian inverse
• Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse
• Dynamically consistent Jacobian inverse for mobile manipulators
• Lagrangian Jacobian inverse for nonholonomic robotic systems

Cites work

• scientific article; zbMATH DE number 5596589 (Why is no real title available?)
• scientific article; zbMATH DE number 47820 (Why is no real title available?)
• scientific article; zbMATH DE number 1300852 (Why is no real title available?)
• scientific article; zbMATH DE number 3049365 (Why is no real title available?)
• Dynamically consistent Jacobian inverse for mobile manipulators
• Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
• Generalized inverses. Theory and applications.
• Non-holonomic motion planning using dynamically consistent Jacobian inverse
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.

Cited in

(9)

• On dynamically consistent Jacobian inverse for non-holonomic robotic systems
• Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots
• Dynamically consistent Jacobian inverse for mobile manipulators
• scientific article; zbMATH DE number 1304587 (Why is no real title available?)
• Two-degree-of-freedom internal model position control and fuzzy fractional force control of nonlinear parallel robot
• Lagrangian Jacobian inverse for nonholonomic robotic systems
• Non-holonomic motion planning using dynamically consistent Jacobian inverse
• Dynamic non-holonomic motion planning by means of dynamically consistent Jacobian inverse
• Study on operational space control of a redundant robot with un-actuated joints: experiments under actuation failure scenarios

This page was built for publication: Dynamically consistent Jacobian inverse for non-holonomic robotic systems

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q341640)