## 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 language | English (US) |
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Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |

Publisher | Publ by IEEE |

Pages | 1175-1180 |

Number of pages | 6 |

Volume | 2 |

State | Published - 1991 |

Externally published | Yes |

Event | Proceedings of the 1991 IEEE International Conference on Robotics and Automation - Sacramento, CA, USA Duration: Apr 9 1991 → Apr 11 1991 |

### Other

Other | Proceedings of the 1991 IEEE International Conference on Robotics and Automation |
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City | Sacramento, CA, USA |

Period | 4/9/91 → 4/11/91 |

## ASJC Scopus subject areas

- Software
- Control and Systems Engineering