Optimal Extended Jacobian Inverse Kinematics Algorithms for Robotic Manipulators

Optimal Extended Jacobian Inverse Kinematics Algorithms for Robotic Manipulators

Extended Jacobian inverse kinematics algorithms for redundant robotic manipulators are defined by combining the manipulator's kinematics with an augmenting kinematics map in such a way that the combination becomes a local diffeomorphism [abstract truncated by publisher].

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Veröffentlicht in:IEEE transactions on robotics 2008-12, Vol.24 (6), p.1440-1445
1. Verfasser: TCHON, Krzysztof
Format: Artikel
Sprache:eng
Schlagworte:
Algorithms
Applied sciences
Approximation
Computer science
control theory
systems
Control theory. Systems
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Jacobians
Kinematics
Laplace transforms
Manipulators
Mathematical analysis
Optimization
Physics
Poisson distribution
Robotics
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
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Beschreibung
Zusammenfassung:Extended Jacobian inverse kinematics algorithms for redundant robotic manipulators are defined by combining the manipulator's kinematics with an augmenting kinematics map in such a way that the combination becomes a local diffeomorphism [abstract truncated by publisher].
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2008.2006240