A hyperbolic, extended Jacobian inverse kinematics algorithm for mobile manipulators

Authors:	Tchon Krzysztof, Wroclaw University of Technology, Poland Jakubiak Janusz, Wroclaw University of Technology, Poland
Topic:	4.3 Robotics
Session:	Mobile Robots I
Keywords:	Mobile robots, robot kinematics, inverse kinematic problem, robot control

Abstract

A contribution of this paper consists in deriving a repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators. The endogenous configuration space approach has been assumed as a guideline. An endogenous configuration of a mobile manipulator includes controls of the platform and joint positions of the onboard manipulator. After a suitable truncation of Fourier series representing platform controls a band-limited version of this algorithm is obtained. By reference to the shape of the invariant manifold in the band-limited situation the algorithm is called hyperbolic. Performance of this algorithmis illustrated with computer simulations involving a kinematic car-type mobile platform endowed with an RTR manipulator.