Virtual Joint Method for Kinematic Modeling of Wheeled Mobile Manipulators
- Authors
- Jeong, Hyunhwan; Kim, Hyungsik; Cheong, Joono; Kim, Wheekuk
- Issue Date
- 10월-2014
- Publisher
- INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
- Keywords
- Inverse kinematics; mobile manipulators; nonholonomic constraint; virtual joint
- Citation
- INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.12, no.5, pp.1059 - 1069
- Indexed
- SCIE
SCOPUS
KCI
- Journal Title
- INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
- Volume
- 12
- Number
- 5
- Start Page
- 1059
- End Page
- 1069
- URI
- https://scholar.korea.ac.kr/handle/2021.sw.korea/97198
- DOI
- 10.1007/s12555-013-0057-1
- ISSN
- 1598-6446
- Abstract
- In this paper, we propose a virtual joint method that better utilizes quasi-velocities for the kinematic modeling of wheeled mobile manipulators. By identifying quasi-velocities as motions of imaginary revolute and prismatic kinematic pairs, our method enables one to regard a mobile manipulator as an ordinary articulated manipulator for the purposes of velocity analysis. We also propose an inverse kinematic scheme for the mobile manipulators along the line with the virtual joint based kinematic framework. Details are worked out for mobile manipulators with representative differential-drive and car-like mobile platforms.
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- Appears in
Collections - College of Science and Technology > Department of Electro-Mechanical Systems Engineering > 1. Journal Articles
- Graduate School > Department of Control and Instrumentation Engineering > 1. Journal Articles
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