Generalized Inverses for Robotic Manipulators
نویسندگان
چکیده
Abstraet--Jacobians are used in robotics for motion planning and control. They are also used in algorithms that determine linkage parameter errors of robots and in algorithms that determine pair variable corrections for accurate motion. Most applications require that the inverse of the Jacobian be obtained. The causes of singularities in Jacobians and a procedure to detect their presence are given. Appropriate inverse solution techniques and their implementation for robots with various types of singularities is outlined. The solutions are applicable to robots with less than, equal to, or greater than six degrees of freedom. For each case, the implementation of both the complete Moore-Penrose inverse and a robot specific pseudo inverse are included. Although it is not necessary to use the Moore--Penrose inverse on any particular robot, the Moore-Penrose inverse can be used to obtain generic inverses for general purpose applications.
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