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International Journal of Applied Mathematics and Computer Science
Volume 19 (2009): Issue 4 (December 2009)
Open Access
Approximation of Jacobian inverse kinematics algorithms
Krzysztof Tchoń
Krzysztof Tchoń
,
Joanna Karpińska
Joanna Karpińska
and
Mariusz Janiak
Mariusz Janiak
| Dec 31, 2009
International Journal of Applied Mathematics and Computer Science
Volume 19 (2009): Issue 4 (December 2009)
Robot Control Theory (special section, pp. 519 - 588), Cezary Zieliński (Ed.)
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Published Online:
Dec 31, 2009
Page range:
519 - 531
DOI:
https://doi.org/10.2478/v10006-009-0041-3
Keywords
robot inverse kinematics
,
extended Jacobian
,
Jacobian pseudoinverse
,
approximation
This content is open access.
Krzysztof Tchoń
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland
Joanna Karpińska
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland
Mariusz Janiak
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland