Dynamically consistent Jacobian inverse for non-holonomic robotic systems
DOI10.1007/S11071-016-2672-XzbMATH Open1349.70029OpenAlexW2285408663WikidataQ59472174 ScholiaQ59472174MaRDI QIDQ341640FDOQ341640
Authors: Krzysztof Tchoń, Joanna Ratajczak 
Publication date: 16 November 2016
Published in: Nonlinear Dynamics (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1007/s11071-016-2672-x
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motion planningdynamic consistencyendogenous configuration space approachJacobian inversenon-holonomic system
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)
Cites Work
- Generalized inverses. Theory and applications.
- 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.
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- Endogenous configuration space approach to mobile manipulators: A derivation and performance assessment of Jacobian inverse kinematics algorithms
- Dynamically consistent Jacobian inverse for mobile manipulators
- Non-holonomic motion planning using dynamically consistent Jacobian inverse
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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
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- 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
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