Creator:

Tchoń, Krzysztof ; Karpińska, Joanna ; Janiak, Mariusz

Contributor:

Zieliński, Cezary - ed.

Title:

Approximation of Jacobian inverse kinematics algorithms

Subtitle:

.

Group publication title:

AMCS, volume 19 (2009)

Subject and Keywords:

robot inverse kinematics ; extended Jacobian ; Jacobian pseudoinverse ; approximation

Abstract:

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.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2009

Resource Type:

artykuł

DOI:

10.2478/v10006-009-0041-3

Pages:

519-531

Source:

AMCS, volume 19, number 4 (2009) ; click here to follow the link

Language:

eng

Rights:

Biblioteka Uniwersytetu Zielonogórskiego