A Mathematica package for motion planning and inverse
kinematics of a mobile manipulator based on exponential coordinates
by Jens Grebäck and Claudio Altafini
The set of routines we provide for the simulation of trajectory
generation and kinematic inversion are collected in the
package MobMan.m,
written by for Mathematica, as an
extension of the libraries
Screws.m and RobotLinks.m, build by Richard Murray at
Caltech, California and containing all the
basic operations necessary to work with the exponential coordinates
representation.
Material available
MobMan.m
The Mathematica package for motion planning of the mobile manipulator
Screw.m and
RobotLinks.m
The modified Mathematica packages for rigid body transformation using
exponential coordinates and operations with kinematic chains in SE(3).
Look at some animations for the
mobile manipulator.