Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: On the basis of a geometric characterization of repeatability  present a repeatable extended Jacobian inverse kinematics algorithm for mobile manipulators. The algorithm's dynamics have linear invariant subspaces in the configuration space. A standard Ritz approximation of platform controls results in a band-limited version of this algorithm. Computer simulations involving an RTR manipulator mounted on a kinematic car-type mobile platform are used in order to illustrate repeatability and performance of the algorithm.
['Krzysztof Tchoń', 'Janusz Jakubiak']
I am writing a research paper on a idea A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators
[{"from": "human", "value": "I am writing a research paper on a idea A repeatable inverse kinematics algorithm with linear invariant subspaces for mobile manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: On the basis of a geometric characterization of repeatability  present a repeatable extended Jacobian inverse kinematics algorithm for mobile manipulators. The algorithm's dynamics have linear invariant subspaces in the configuration space. A standard Ritz approximation of platform controls results in a band-limited version of this algorithm. Computer simulations involving an RTR manipulator mounted on a kinematic car-type mobile platform are used in order to illustrate repeatability and performance of the algorithm."}]