Research on Visual Servo Grasping of Household Objects for Nonholonomic Mobile Manipulator

Table 3

Inverse kinematic results of the generalized manipulator.

Roll/(rad)	Pitch/(rad)	Yaw/(rad)	/(cm)	/(cm)	/(cm)	/(rad)	/(cm)	/(rad)	/(rad)	/(rad)	/(rad)
0.4449	0.2566	−1.2466	129.4143	15.7087	76.7968	0.2417	122.6	−0.7854	0.1366	−0.6283	−0.3927
						0.1922	123.7487	1.1579	0.1366	−2.5133	−0.6142
						0.0880	127.4757	−1.3771	−0.5851	0.1454	−1.0836
						−5.9305	121.3515	1.7428	−0.5851	2.9962	0.0767
−0.2411	−0.4617	−0.2266	12.5929	22.4547	69.2228	1.0203	19.3710	−1.0229	0.5987	−0.2428	1.0851
						0.2661	40.1966	2.4693	0.5987	−2.8988	−0.0848
						0.1653	52.60	−0.4488	−1.0472	0.1571	−0.5417
						−4.5806	20.1375	1.3136	−1.0472	2.9845	1.5420