### 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 language | English (US) |
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Title of host publication | Proceedings of the American Control Conference |

Editors | Anon |

Publisher | Publ by American Automatic Control Council |

Pages | 2039-2044 |

Number of pages | 6 |

ISBN (Print) | 0879425652 |

State | Published - Dec 1 1991 |

Externally published | Yes |

Event | Proceedings of the 1991 American Control Conference - Boston, MA, USA Duration: Jun 26 1991 → Jun 28 1991 |

### Publication series

Name | Proceedings of the American Control Conference |
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Volume | 2 |

ISSN (Print) | 0743-1619 |

### Other

Other | Proceedings of the 1991 American Control Conference |
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City | Boston, MA, USA |

Period | 6/26/91 → 6/28/91 |

### ASJC Scopus subject areas

- Electrical and Electronic Engineering

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## Cite this

*Proceedings of the American Control Conference*(pp. 2039-2044). (Proceedings of the American Control Conference; Vol. 2). Publ by American Automatic Control Council.