Details

Title

On dynamically consistent Jacobian inverse for non-holonomic robotic systems

Journal title

Archives of Control Sciences

Yearbook

2017

Numer

No 4

Publication authors

Divisions of PAS

Nauki Techniczne

Abstract

<jats:title>Abstract</jats:title> <jats:p>This paper presents the dynamically consistent Jacobian inverse for non-holonomic robotic system, and its application to solving the motion planning problem. The system’s kinematics are represented by a driftless control system, and defined in terms of its input-output map in accordance with the endogenous configuration space approach. The dynamically consistent Jacobian inverse (DCJI) has been introduced by means of a Riemannian metric in the endogenous configuration space, exploiting the reduced inertia matrix of the system’s dynamics. The consistency condition is formulated as the commutativity property of a diagram of maps. Singular configurations of DCJI are studied, and shown to coincide with the kinematic singularities. A parametric form of DCJI is derived, and used for solving example motion planning problems for the trident snake mobile robot. Some advantages in performance of DCJI in comparison to the Jacobian pseudoinverse are discovered.</jats:p>

Publisher

Committee of Automatic Control and Robotics PAS

Date

2017

Identifier

ISSN 1230-2384

References

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DOI

10.1515/acsc-2017-0033

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