Wyniki wyszukiwania - BazTech

Ograniczanie wyników

1 Archives of Control Sciences

1 2001

Znaleziono wyników: 1

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: dexterity

Sortuj według:

Ogranicz wyniki do:

Kinematics of mobile manipulators : a control theoretic perspective

Tchoń K., Jakubiak J., Muszyński R.

Archives of Control Sciences

2001

Vol. 11, no. 3/4

195-221

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.