Efficient control with 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

4 Citations (Scopus)

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
Place of PublicationGreen Valley, AZ, United States
PublisherPubl by American Automatic Control Council
Pages2039-2044
Number of pages6
Volume2
ISBN (Print)0879425652
StatePublished - 1991
Externally publishedYes
EventProceedings of the 1991 American Control Conference - Boston, MA, USA
Duration: Jun 26 1991Jun 28 1991

Other

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

Fingerprint

Manipulators
Robots
Jacobian matrices
Torque

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Meldrum, D., 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 (Vol. 2, pp. 2039-2044). Green Valley, AZ, United States: Publ by American Automatic Control Council.

Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator. / Meldrum, Deirdre; Rodriguez, G.; Franklin, G. F.

Proceedings of the American Control Conference. ed. / Anon. Vol. 2 Green Valley, AZ, United States : Publ by American Automatic Control Council, 1991. p. 2039-2044.

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

Meldrum, D, Rodriguez, G & Franklin, GF 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. vol. 2, Publ by American Automatic Control Council, Green Valley, AZ, United States, pp. 2039-2044, Proceedings of the 1991 American Control Conference, Boston, MA, USA, 6/26/91.
Meldrum D, Rodriguez G, Franklin GF. Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator. In Anon, editor, Proceedings of the American Control Conference. Vol. 2. Green Valley, AZ, United States: Publ by American Automatic Control Council. 1991. p. 2039-2044
Meldrum, Deirdre ; Rodriguez, G. ; Franklin, G. F. / Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator. Proceedings of the American Control Conference. editor / Anon. Vol. 2 Green Valley, AZ, United States : Publ by American Automatic Control Council, 1991. pp. 2039-2044
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