On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics

In the technical note we examine dynamic properties of the singularity robust Jacobian inverse kinematics algorithm for mobile manipulators. By design, this algorithm operates at regular as well as singular configurations. The main result of the technical note consists in establishing the completeness of the singularity robust algorithm, and in providing a condition for its convergence. Computer simulations illustrate the theory.