Repeatability of inverse kinematics algorithms for mobile manipulators
We introduce and examine the property of repeatability of inverse kinematics algorithms for mobile manipulators. Similarly to stationary manipulators, repeatability of mobile manipulators is defined by requiring that a closed path in the task space should be transformed by the inverse kinematics alg...
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| Veröffentlicht in: | IEEE transactions on automatic control 2002-08, Vol.47 (8), p.1376-1380 |
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| container_title | IEEE transactions on automatic control |
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| creator | Tchon, K. |
| description | We introduce and examine the property of repeatability of inverse kinematics algorithms for mobile manipulators. Similarly to stationary manipulators, repeatability of mobile manipulators is defined by requiring that a closed path in the task space should be transformed by the inverse kinematics algorithm into a closed path in the configuration space. In a simply connected, singularity-free region of the task space, a necessary and sufficient condition for repeatability is derived as the integrability condition of a distribution associated with the inverse kinematics algorithm. |
| doi_str_mv | 10.1109/TAC.2002.801192 |
| format | Article |
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Similarly to stationary manipulators, repeatability of mobile manipulators is defined by requiring that a closed path in the task space should be transformed by the inverse kinematics algorithm into a closed path in the configuration space. In a simply connected, singularity-free region of the task space, a necessary and sufficient condition for repeatability is derived as the integrability condition of a distribution associated with the inverse kinematics algorithm.</description><identifier>ISSN: 0018-9286</identifier><identifier>EISSN: 1558-2523</identifier><identifier>DOI: 10.1109/TAC.2002.801192</identifier><identifier>CODEN: IETAA9</identifier><language>eng</language><publisher>New York, NY: IEEE</publisher><subject>Algorithm design and analysis ; Algorithms ; Automatic control ; Control systems ; Cybernetics ; Design optimization ; Exact sciences and technology ; Fundamental areas of phenomenology (including applications) ; Inverse kinematics ; Jacobian matrices ; Kinematics ; Least squares methods ; Manipulators ; Motion control ; Physics ; Repeatability ; Reproducibility ; Robot arms ; Robotics ; Solid dynamics (ballistics, collision, multibody system, stabilization...) ; Solid mechanics ; Space stations ; Sufficient conditions ; Task space</subject><ispartof>IEEE transactions on automatic control, 2002-08, Vol.47 (8), p.1376-1380</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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Similarly to stationary manipulators, repeatability of mobile manipulators is defined by requiring that a closed path in the task space should be transformed by the inverse kinematics algorithm into a closed path in the configuration space. 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Similarly to stationary manipulators, repeatability of mobile manipulators is defined by requiring that a closed path in the task space should be transformed by the inverse kinematics algorithm into a closed path in the configuration space. In a simply connected, singularity-free region of the task space, a necessary and sufficient condition for repeatability is derived as the integrability condition of a distribution associated with the inverse kinematics algorithm.</abstract><cop>New York, NY</cop><pub>IEEE</pub><doi>10.1109/TAC.2002.801192</doi><tpages>5</tpages></addata></record> |
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| ispartof | IEEE transactions on automatic control, 2002-08, Vol.47 (8), p.1376-1380 |
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| source | IEEE Electronic Library (IEL) |
| subjects | Algorithm design and analysis Algorithms Automatic control Control systems Cybernetics Design optimization Exact sciences and technology Fundamental areas of phenomenology (including applications) Inverse kinematics Jacobian matrices Kinematics Least squares methods Manipulators Motion control Physics Repeatability Reproducibility Robot arms Robotics Solid dynamics (ballistics, collision, multibody system, stabilization...) Solid mechanics Space stations Sufficient conditions Task space |
| title | Repeatability of inverse kinematics algorithms for mobile manipulators |
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