TY - GEN
T1 - Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator
AU - Meldrum, D. R.
AU - Rodriguez, G.
AU - Franklin, G. F.
PY - 1991
Y1 - 1991
N2 - A method is presented to order (n) recursively invert the Jacobian matrix for a serial n-link manipulator. By realizing that the Jacobian relationship involving accelerations is a special case for the forward dynamics problem, it is possible to obtain the Jacobian inverse by directly applying G. Rodriguez' IEEE J. Robot. Autom., vol. RA-3, no. 6, pp. 624-639, Dec. 1987) recursive forward dynamics algorithm. In this technique, the n-link robot equation is formulated as a spatially recursive algorithm in the form of a filtering and smoothing problem. To compute the Jacobian inverse via this algorithm, the n-link manipulator is modeled with only a unit end-point mass and zero applied torques.
AB - A method is presented to order (n) recursively invert the Jacobian matrix for a serial n-link manipulator. By realizing that the Jacobian relationship involving accelerations is a special case for the forward dynamics problem, it is possible to obtain the Jacobian inverse by directly applying G. Rodriguez' IEEE J. Robot. Autom., vol. RA-3, no. 6, pp. 624-639, Dec. 1987) recursive forward dynamics algorithm. In this technique, the n-link robot equation is formulated as a spatially recursive algorithm in the form of a filtering and smoothing problem. To compute the Jacobian inverse via this algorithm, the n-link manipulator is modeled with only a unit end-point mass and zero applied torques.
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U2 - 10.23919/acc.1991.4791755
DO - 10.23919/acc.1991.4791755
M3 - Conference contribution
AN - SCOPUS:0026368940
SN - 0879425652
SN - 9780879425654
T3 - Proceedings of the American Control Conference
SP - 2039
EP - 2044
BT - Proceedings of the American Control Conference
PB - Publ by American Automatic Control Council
T2 - Proceedings of the 1991 American Control Conference
Y2 - 26 June 1991 through 28 June 1991
ER -