Hyperbolic-linear, Extended Jacobian Inverse Kinematics Algorithm for Doubly Nonholonomic Mobile Manipulators

摘要

A doubly nonholonomic mobile manipulator is defined as a mobile manipulator consisting of a nonholonomic stationary manipulator mounted on a nonholonomic mobile platform. Exploiting two augmenting kinematics maps, called hyperbolic and linear, we propose an extended Jacobian inverse kinematics algorithm for doubly nonholonomic mobile manipulators. By definition, our algorithm is repeatable. Performance of the algorithm is examined by computer simulations.