Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots

2006 ◽  
Vol 79 (8) ◽  
pp. 895-909 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Janusz Jakubiak
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Nonholonomic Mobile Robots ◽  
Jacobian Inverse

A New Inverse Kinematics Algorithm for Nonholonomic Mobile Robots

2009 ◽  
Vol 42 (13) ◽  
pp. 647-652 ◽  
Author(s):  
Janusz Jakubiak ◽  
Łukasz Małek ◽  
Krzysztof Tchoń
Keyword(s):  
Mobile Robots ◽  
Inverse Kinematics ◽  
Nonholonomic Mobile Robots

scholarly journals Approximation of Jacobian inverse kinematics algorithms

2009 ◽  
Vol 19 (4) ◽  
pp. 519-531 ◽  
Author(s):  
Krzysztof Tchoń ◽  
Joanna Karpińska ◽  
Mariusz Janiak
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Inverse Kinematics ◽  
Variational Calculus ◽  
Approximation Problem ◽  
The Other ◽  
Synthesis Problem ◽  
Theoretical Concepts ◽  
Jacobian Inverse

Approximation of Jacobian inverse kinematics algorithmsThis paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.

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