Kinematics of mobile manipulators : a control theoretic perspective

• Autorzy: Tchoń K. , Jakubiak J. , Muszyński R.
• Języki publikacji: EN

Abstrakty

EN

A mobile manipulator is a robotic system composed of a mobile platform and a manipulator mounted atop of the platform. From control theoretic viewpoint the kinematics of the mobile manipulator can be represented by means of a driftless control system with outputs. Assuming this kind of representation we define basic concepts concerned with the kinematics of mobile manipulators and develop a consistent theory involving these concepts in a way completely analogous to the existing theory of stationary manipulators. A key ingredient of our approach is a concept of endogenous configuration of a mobile manipulator that comprises a control function of the platform and a joint position of the manipulator. Relying on this concept we introduce the instantaneous kinematics, analytic Jacobian, regular and singular configurations, a Jacobian pseudoinverse, a dexterity matrix and a dexterity ellipsoid. Then we formulate the inverse kinematic problem (the motion planning problem), and derive two exemplary algorithms: the Jacobian pseudoinverse (Newton) algorithm and the Jacobian adjoint (Jacobian transpose) algorithm, that are applicable at regular configurations. In a vicinity of singular configurations a version of the singularity robust pseudoinverse is provided. Dexterity ellipsoids and inverse kinematics algorithms are illustrated with computer simulations.

Słowa kluczowe

EN

mobile manipulator; control system; inverse kinematics; Jacobian; dexterity

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2001
• Tom: Vol. 11, no. 3/4
• Strony: 195--221
• Opis fizyczny: Bibliogr. 53 poz., rys., wzory

Twórcy

autor

Tchoń K.

• Institute of Engineering Cybernetics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland

autor

Jakubiak J.

• Institute of Engineering Cybernetics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland

autor

Muszyński R.

• Institute of Engineering Cybernetics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50–372 Wrocław, Poland

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