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

doi:10.23919/acc.1991.4791755

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 proceeding › Conference contribution

5 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 language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	Publ by American Automatic Control Council
Pages	2039-2044
Number of pages	6
ISBN (Print)	0879425652, 9780879425654
DOIs	https://doi.org/10.23919/acc.1991.4791755
State	Published - 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
Volume	2
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 1991 American Control Conference
City	Boston, MA, USA
Period	6/26/91 → 6/28/91

ASJC Scopus subject areas

Electrical and Electronic Engineering

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10.23919/acc.1991.4791755

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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 Proceedings of the American Control Conference (pp. 2039-2044). (Proceedings of the American Control Conference; Vol. 2). Publ by American Automatic Control Council. https://doi.org/10.23919/acc.1991.4791755

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Meldrum, DR, Rodriguez, G & Franklin, GF 1991, Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator. in Proceedings of the American Control Conference. Proceedings of the American Control Conference, vol. 2, Publ by American Automatic Control Council, pp. 2039-2044, Proceedings of the 1991 American Control Conference, Boston, MA, USA, 6/26/91. https://doi.org/10.23919/acc.1991.4791755

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AB - 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.

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

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