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• W3133732815 abstract "This article presents an approach to solve the inverse kinematics of cooperative mobile manipulators for coordinate manipulation tasks. A self-adaptive differential evolution algorithm is used to solve the inverse kinematics as a global constrained optimization problem. A kinematics model of the cooperative mobile manipulators system is proposed, considering a system with two omnidirectional platform manipulators with n DOF. An objective function is formulated based on the forward kinematics equations. Consequently, the proposed approach does not suffer from singularities because it does not require the inversion of any Jacobian matrix. The design of the objective function also contains penalty functions to handle the joint limits constraints. Simulation experiments are performed to test the proposed approach for solving coordinate path tracking tasks. The solutions of the inverse kinematics show precise and accurate results. The experimental setup considers two mobile manipulators based on the KUKA Youbot system to demonstrate the applicability of the proposed approach." @default.
• W3133732815 created "2021-03-15" @default.
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• W3133732815 date "2021-03-08" @default.
• W3133732815 modified "2023-10-17" @default.
• W3133732815 title "Inverse kinematics for cooperative mobile manipulators based on self-adaptive differential evolution" @default.
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• W3133732815 doi "https://doi.org/10.7717/peerj-cs.419" @default.
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