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We derive a class of dynamic Jacobian inverses of mobile manipulator kinematics based on the Ważewski inequality. It is shown that all right Jacobian inverses, as well as the adjoint Jacobian, the adjugate dexterity matrix, and the singularity robust Jacobian inverse belong to this class. Performance of example Jacobian algorithms is illustrated by computer simulations.
A mobile manipulator is a robotic system composed of a mobile platform and a manipulator mounted atop of the platform. From control theoretic viewpoint the kinematics of the mobile manipulator can be represented by means of a driftless control system with outputs. Assuming this kind of representation we define basic concepts concerned with the kinematics of mobile manipulators and develop a consistent...
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