A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators

IEEE Trans Syst Man Cybern B Cybern. 2005 Oct;35(5):1051-7. doi: 10.1109/tsmcb.2005.848495.


On the basis of a geometric characterization of repeatability we present a repeatable extended Jacobian inverse kinematics algorithm for mobile manipulators. The algorithm's dynamics have linear invariant subspaces in the configuration space. A standard Ritz approximation of platform controls results in a band-limited version of this algorithm. Computer simulations involving an RTR manipulator mounted on a kinematic car-type mobile platform are used in order to illustrate repeatability and performance of the algorithm.

Publication types

  • Evaluation Study
  • Research Support, Non-U.S. Gov't

MeSH terms

  • Algorithms*
  • Biomechanical Phenomena / methods*
  • Computer Simulation
  • Feedback
  • Linear Models*
  • Models, Theoretical*
  • Motion
  • Robotics / methods*