Abstract
We introduce and examine the property of repeatability of inverse kinematics algorithms for mobile manipulators. Similarly to stationary manipulators, repeatability of mobile manipulators is defined by requiring that a closed path in the task space should be transformed by the inverse kinematics algorithm into a closed path in the configuration space. In a simply connected, singularity-free region of the task space, a necessary and sufficient condition for repeatability is derived as the integrability condition of a distribution associated with the inverse kinematics algorithm.
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