Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator

D. R. Meldrum, G. Rodriguez, G. F. Franklin

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

4 Scopus citations

Abstract

A method is presented to order (n) recursively invert the Jacobian matrix for a serial n-link manipulator. By realizing that the Jacobian relationship involving accelerations is a special case for the forward dynamics problem, it is possible to obtain the Jacobian inverse by directly applying G. Rodriguez' IEEE J. Robot. Autom., vol. RA-3, no. 6, pp. 624-639, Dec. 1987) recursive forward dynamics algorithm. In this technique, the n-link robot equation is formulated as a spatially recursive algorithm in the form of a filtering and smoothing problem. To compute the Jacobian inverse via this algorithm, the n-link manipulator is modeled with only a unit end-point mass and zero applied torques.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
Editors Anon
PublisherPubl by American Automatic Control Council
Pages2039-2044
Number of pages6
ISBN (Print)0879425652
StatePublished - Dec 1 1991
Externally publishedYes
EventProceedings of the 1991 American Control Conference - Boston, MA, USA
Duration: Jun 26 1991Jun 28 1991

Publication series

NameProceedings of the American Control Conference
Volume2
ISSN (Print)0743-1619

Other

OtherProceedings of the 1991 American Control Conference
CityBoston, MA, USA
Period6/26/916/28/91

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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    Meldrum, D. R., Rodriguez, G., & Franklin, G. F. (1991). Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator. In Anon (Ed.), Proceedings of the American Control Conference (pp. 2039-2044). (Proceedings of the American Control Conference; Vol. 2). Publ by American Automatic Control Council.