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Neural Computing and Applications
Erschienen in: Neural Computing and Applications 1/2013

01.07.2013 | Original Article

Inverse kinematics of a mobile robot

verfasst von: José de Jesús Rubio, Víctor Aquino, Maricela Figueroa

Erschienen in: Neural Computing and Applications | Ausgabe 1/2013

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Abstract

The problem of kinematics is to describe the motion of the robotic system without consideration of the forces and torques causing the motion. This paper presents two methods to obtain the inverse kinematics of a mobile robot. In the first method, two rows of the forward kinematics are selected, the inverse of these two rows is obtained, and later the inverse matrix is combined with the third row of the forward kinematics. In the second method, the pseudo-inverse matrix of the forward kinematics matrix is obtained. The comparison result of the two proposed methods is presented. Two simulations show the effectiveness of the proposed inverse kinematics algorithm.
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Metadaten
Titel
Inverse kinematics of a mobile robot
verfasst von
José de Jesús Rubio
Víctor Aquino
Maricela Figueroa
Publikationsdatum
01.07.2013
Verlag
Springer-Verlag
Erschienen in
Neural Computing and Applications / Ausgabe 1/2013
Print ISSN: 0941-0643
Elektronische ISSN: 1433-3058
DOI
https://doi.org/10.1007/s00521-012-0854-0

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