Design of inverse kinematics algorithms: extended Jacobian approximation of the dynamically consistent Jacobian inverse
نویسندگان
چکیده
منابع مشابه
Approximation of Jacobian inverse kinematics algorithms
This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Exampl...
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We study Jacobian inverse kinematics algorithms for mobile manipulators composed of a nonholonomic mobile platform and a holonomic onboard manipulator. In general, the Jacobian algorithms converge locally, often producing weird end effector and platform trajectories. In the paper we use the existing theory of Newton algorithms in order to improve the quality of convergence of the Jacobian algor...
متن کاملRepeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators
An inverse kinematics algorithm for a robotic system is called repeatable, if it transforms closed paths in the task space into closed paths in the configuration space. In this paper we assume the endogenous configuration space approach and define a repeatable inverse kinematics algorithm for mobile manipulators, patterned on the extended Jacobian scheme. An examination of a dynamic system asso...
متن کاملRepeatable approximation of the Jacobian pseudo-inverse
For redundant robot kinematics we construct an extended Jacobian inverse that approximates the Jacobian pseudo-inverse. Our construction relies on the approximation of codistributions associated with the Jacobian pseudo-inverse by an integrable codistribution, spanned by differentials of certain functions that serve as components of the augmenting kinematics map in the extended Jacobian inverse...
متن کاملApproximation of Jacobian Inverse Kinematics Algorithms: Differential Geometric vs. Variational Approach
This paper addresses the approximation problem of Jacobian inverse kinematics algorithms for redundant robotic manipulators. Specifically, we focus on the approximation of the Jacobian pseudo inverse by the extended Jacobian algorithm. The algorithms are defined as certain dynamic systems driven by the task space error, and identified with vector field distributions. The distribution correspond...
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ژورنال
عنوان ژورنال: Archives of Control Sciences
سال: 2015
ISSN: 2300-2611
DOI: 10.1515/acsc-2015-0003