Abstract
The Endogenous Configuration Space Approach (ECSA) was invented as a robotics research methodology providing a unified conceptual framework for dealing with robotic manipulators (holonomic robotic systems) and mobile robots (non-holonomic robotic systems). Conceptually, this approach has been derived from control theory. Taking as a point of departure a model of kinematics or dynamics of a mobile robot represented in the form of a non-linear control system with output function, the ECSA builds on an analogy between the kinematics map of a robotic manipulator and the input-output (end-point) map transforming control functions of the control system into the task space. Within this perspective, the derivative of the input-output map with respect to control defines the mobile robot’s Jacobian. Consequently, all Jacobian-oriented concepts and instruments are introduced, like regular and singular configurations, dexterity measures and, last but not least, Jacobian motion planning algorithms. Numerical computations within the ECSA are enabled by either parametric or non-parametric implementations of the Jacobian motion planning algorithms.
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