Whole-body inverse kinematics robust to base position control error in mobile manipulators

IF 1.4 4区计算机科学 Q4 ROBOTICS

Advanced Robotics Pub Date : 2024-07-08 DOI:10.1080/01691864.2024.2369816

Keisuke Takeshita, Takashi Yamamoto

引用次数: 0

Abstract

Mobile manipulators require whole-body inverse kinematics (IK), encompassing both the mobile base and arm, to execute manipulation tasks. One of the challenges associated with whole-body IK is the ...

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移动机械手的全身逆运动学对基座位置控制误差的稳健性

移动机械手需要全身逆运动学（IK），包括移动底座和机械臂，才能执行操纵任务。与全身反运动学（IK）相关的挑战之一是，移动机械手在执行操纵任务时，需要同时使用移动底座和机械臂。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Advanced Robotics 工程技术-机器人学

CiteScore

4.10

自引率

20.00%

发文量

102

审稿时长

5.3 months

期刊介绍： Advanced Robotics (AR) is the international journal of the Robotics Society of Japan and has a history of more than twenty years. It is an interdisciplinary journal which integrates publication of all aspects of research on robotics science and technology. Advanced Robotics publishes original research papers and survey papers from all over the world. Issues contain papers on analysis, theory, design, development, implementation and use of robots and robot technology. The journal covers both fundamental robotics and robotics related to applied fields such as service robotics, field robotics, medical robotics, rescue robotics, space robotics, underwater robotics, agriculture robotics, industrial robotics, and robots in emerging fields. It also covers aspects of social and managerial analysis and policy regarding robots. Advanced Robotics (AR) is an international, ranked, peer-reviewed journal which publishes original research contributions to scientific knowledge. All manuscript submissions are subject to initial appraisal by the Editor, and, if found suitable for further consideration, to peer review by independent, anonymous expert referees.