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On inverse kinematics of stationary and mobile manipulators

We present a collection of regular inverse kinematics algorithms for mobile manipulators designed within the control system approach. Special attention is paid to the following algorithms: Jacobian pseudoinverse, Jacobian adjoint, extended Jacobian pseudoinverse, and constrained optimization inverse kinematics algorithms. It is demonstrated that all these algorithms are strict equivalents of corresponding inverse kinematics algorithms for stationary manipulators.