Repeatable approximation of the Jacobian pseudo-inverse

被引：11

作者：

Tchon, Krzysztof ^{[1
]}

Janiak, Mariusz ^{[1
]}

机构：

[1] Wroclaw Univ Technol, Inst Comp Engn Control & Robot, PL-50372 Wroclaw, Poland

来源：

SYSTEMS & CONTROL LETTERS | 2009年 / 58卷 / 12期

关键词：

Redundant robot kinematics; Jacobian pseudo-inverse; Extended Jacobian inverse; Codistribution; Approximation; KINEMATICS ALGORITHMS; CONTROL STRATEGIES; REDUNDANT;

D O I：

10.1016/j.sysconle.2009.10.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For the redundant robot kinematics we construct an extended Jacobian inverse that approximates the Jacobian pseudo-inverse. Our construction relies on the approximation of a codistribution associated with the Jacobian pseudo-inverse by an integrable codistribution, spanned by differentials of certain functions that serve as components of the augmenting kinematics map in the extended Jacobian inverse. The procedure is applied to the kinematics of a 7 degree-of-freedom manipulator POLYCRANK, and to the kinematics of a mobile robot in the chained form. (C) 2009 Elsevier B.V. All rights reserved.

引用

页码：849 / 856

页数：8

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