Zielonogórska Biblioteka Cyfrowa udostępnia 65 391 obiektów cyfrowych
Obiekt
Tytuł: A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators
Contributor:
Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.
Group publication title:
Abstract:
The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM). ; Their comparison is based on the evaluation of a short distance approaching the goal point and on their computational complexity. As the reference method, the Jacobian pseudo-inverse is utilized. Simulation results reveal that the modified Levenberg-Marquardt method is promising, while the first order approximation method is reliable and requires mild computational costs. Some hints are formulated concerning the application of Jacobian-based methods in practice.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
DOI:
Pages:
Source:
AMCS, volume 23, number 2 (2013) ; kliknij tutaj, żeby przejść
Language:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2013)
Data ostatniej modyfikacji:
14 lip 2025
Data dodania obiektu:
11 kwi 2024
Liczba wyświetleń treści obiektu:
94
Wszystkie dostępne wersje tego obiektu:
https://www.zbc.uz.zgora.pl/publication/88627
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23, number 1 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23, number 2 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23, number 3 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23, number 4 (2013)
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| Nazwa wydania | Data |
|---|---|
| A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators | 14 lip 2025 |
Obiekty Podobne
Dulęba, Ignacy Karcz-Dulęba, Iwona Mielczarek, Arkadiusz Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
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Tchoń, Krzysztof Karpińska, Joanna Janiak, Mariusz Zieliński, Cezary - ed.
Dulęba, Ignacy Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Dulęba, Ignacy Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Smereka, Marcin Dulęba, Ignacy Kummert, Anton - ed. Rafajłowicz, Ewaryst - ed.
Dulęba, Ignacy Jagodziński, Jacek Korbicz, Józef (1951- ) - red. Uciński, Dariusz - red.
Verdiere, Nathalie Denis-Vidal, Lilianne Joly-Blanchard, Ghislaine Domurado, Dominique Beliczyński, Bartłomiej - red.
