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Inverse kinematics of a mobile robot

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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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Acknowledgments

The authors are grateful with the editor and with the reviewers for their valuable comments and insightful suggestions, which can help to improve this research significantly. The authors thank the Secretaria de Investigación y Posgrado and the Comisión de Operación y Fomento de Actividades Académicas del IPN and the Consejo Nacional de Ciencia y Tecnologia for their help in this research.

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Authors and Affiliations

  1. ESIME Azcapotzalco, Instituto Politécnico Nacional, Sección de Estudios de Posgrado e investigación, Av. de las Granjas No. 682 Col. Sta. Catarina Delegación Azcapotzalco, Mexico D.F., Mexico

    José de Jesús Rubio, Víctor Aquino & Maricela Figueroa

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  1. José de Jesús Rubio
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  2. Víctor Aquino
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  3. Maricela Figueroa
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Correspondence to José de Jesús Rubio.

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de Jesús Rubio, J., Aquino, V. & Figueroa, M. Inverse kinematics of a mobile robot. Neural Comput & Applic 23, 187–194 (2013). https://doi.org/10.1007/s00521-012-0854-0

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  • DOI: https://doi.org/10.1007/s00521-012-0854-0

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