<abstract xml:lang="en" xmlns="http://www.w3.org/1999/xhtml"><p>This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.</p></abstract>

This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.

Approximation of Jacobian inverse kinematics algorithms

Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland

International Journal of Applied Mathematics and Computer Science

{"article-title":"Approximation of Jacobian inverse kinematics algorithms"}

This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid...

Approximation of Jacobian inverse kinematics algorithms

Publié en ligne: 31 déc. 2009

Pages: 519 - 531

DOI: https://doi.org/10.2478/v10006-009-0041-3

Mots clés
robot inverse kinematics, extended Jacobian, Jacobian pseudoinverse, approximation

This content is open access.

Approximation of Jacobian inverse kinematics algorithms

Publié en ligne: 31 déc. 2009

Pages: 519 - 531

DOI: https://doi.org/10.2478/v10006-009-0041-3

Mots clésrobot inverse kinematics, extended Jacobian, Jacobian pseudoinverse, approximation

This content is open access.

Mots clés
robot inverse kinematics, extended Jacobian, Jacobian pseudoinverse, approximation