Inverse kinematics along a geometric spline for a holonomic mobile manipulator

Author

Altafini, Claudio

Author_Institution

Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden

Volume

2

fYear

2001

fDate

2001

Firstpage

1265

Abstract

Kinematically, a mobile manipulator i.e. a robot arm mounted on the top of a mobile platform, is a concatenation of rigid body motions in SE(3), the Special Euclidean group and its subgroups. The formalism of matrix Lie groups is used to generate a smooth curve for the end-effector of the robot. In particular, different closed-form C² curves in SE(3) can be obtained from boundary data with the De Casteljau algorithm. Pseudoinversion techniques applied to the Jacobian of the kinematic chain allow then to transform the path of the end-effector into smooth joint space trajectories via the product of exponentials formula.

Keywords

Jacobian matrices; Lie groups; geometry; manipulator kinematics; matrix algebra; mobile robots; path planning; splines (mathematics); De Casteljau algorithm; SE(3); Special Euclidean group; closed-form C² curves; end-effector; geometric spline; holonomic mobile manipulator; inverse kinematics; matrix Lie groups; product of exponentials formula; rigid body motions; robot arm; smooth joint space trajectories; Bandwidth; Control systems; Jacobian matrices; Manipulators; Mobile robots; Open loop systems; Orbital robotics; Robot kinematics; Spline; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932784

Filename

932784