When a serial-chain manipulator is mounted on a mobile base, the end-effector motion must be decomposed into the motion of the base and the motion of the manipulator. The problem of determining the actuator rates for a given end-effector motion is typically under constrained. A compact, analytical inverse rate kinematics solution is presented in which a weighted-norm of the joint rates is minimized. The method is capable of accomodating any type of joint as well as nonholonomic constraints. This framework allows the allocation of the end-effector motion between the manipulator and its mobile base according to user-prescribed preferences.

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