An order (N) recursive inversion of the Jacobian for an N-link serial manipulator

Deirdre Meldrum, G. Rodriguez, G. F. Franklin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

The Jacobian matrix, J, relates joint velocity to Cartesian velocity for an N-link serial manipulator. An operator factorization and inversion of J * J is shown to result in an order (N) spatially recursive filtering and smoothing algorithm that solves the inverse Jacobian problems of finding the joint angle velocities given the end-effector velocity or finding the joint angle accelerations given the end-effector acceleration. It is shown that, with a proper model, these inverse Jacobian problems are equivalent to solving the forward dynamics problem for the same model. The recursive algorithm developed by G. Rodriguez (1987) to solve the forward dynamics problem is applied directly to solve these inverse Jacobian problems.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages1175-1180
Number of pages6
Volume2
StatePublished - 1991
Externally publishedYes
EventProceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA
Duration: Apr 9 1991Apr 11 1991

Other

OtherProceedings of the 1991 IEEE International Conference on Robotics and Automation
CitySacramento, CA, USA
Period4/9/914/11/91

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Fingerprint Dive into the research topics of 'An order (N) recursive inversion of the Jacobian for an N-link serial manipulator'. Together they form a unique fingerprint.

Cite this