Dynamically consistent Jacobian inverse for mobile manipulators

ABSTRACT

By analogy to the definition of the dynamically consistent Jacobian inverse for robotic manipulators, we have designed a dynamically consistent Jacobian inverse for mobile manipulators built of a non-holonomic mobile platform and a holonomic on-board manipulator. The endogenous configuration space approach has been exploited as a source of conceptual guidelines. The new inverse guarantees a decoupling of the motion in the operational space from the forces exerted in the endogenous configuration space and annihilated by the dual Jacobian inverse. A performance study of the new Jacobian inverse as a tool for motion planning is presented.

Keywords:

• Mobile manipulator
• kinematics
• motion planning
• Jacobian algorithm
• dynamic consistency
• endogenous configuration space approach

Acknowledgements

This research was supported by the National Science Centre, Poland, under the grant decision No DEC-2013/09/B/ST7/02368. The authors are indebted to anonymous referees whose comments resulted in improving the completeness and the clarity of the text of this work.

Disclosure statement

No potential conflict of interest was reported by the authors.

Additional information

Funding

National Science Centre, Poland [Grant Number DEC-2013/09/B/ST7/02368].