TY - GEN
A1 - Tchoń, Krzysztof
A1 - Karpińska, Joanna
A1 - Janiak, Mariusz
A2 - Zieliński, Cezary - ed.
PB - Zielona Góra: Uniwersytet Zielonogórski
N2 - This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.
L1 - http://www.zbc.uz.zgora.pl/Content/78791/AMCS_2009_19_4_1.pdf
L2 - http://www.zbc.uz.zgora.pl/Content/78791
KW - robot inverse kinematics
KW - extended Jacobian
KW - Jacobian pseudoinverse
KW - approximation
T1 - Approximation of Jacobian inverse kinematics algorithms
UR - http://www.zbc.uz.zgora.pl/dlibra/docmetadata?id=78791
ER -