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...

Algorithms for planning quasistatic attitude maneuvers based on the Jacobian of the forward kinematic mapping of fully-reversed (FR) sequences of rotations are proposed in this paper. An FR sequence of rotations is a series of finite rotations that consists of initial rotations about the axes of a body-fixed coordinate frame and subsequent rotations that undo these initial rotations. Unlike the...

This is a introduction to the Jacobian transpose method, the pseudoinverse method, and the damped least squares methods for inverse kinematics (IK). The mathematical foundations of these methods are presented, with an analysis based on the singular value decomposition.

An extension to operational space (EXOS) is presented for the explicit representation of the null-space (NS) dynamics and its interaction with the operational-space dynamics. First, the EXOS Jacobian is formed by augmenting the Jacobian matrix with a minimum number of its NS vectors. Based on the EXOS Jacobian, free of algorithmic singularity, the kinematics, statics, and dynamics of a redundan...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

Abstract: This paper focuses on the kinematics analysis of free-floating space redundant manipulator at velocity level based on the momentum conservation law. Firstly, a general solution for inverse kinematics is proposed based on the concept of task priority. Secondly, in terms of pseudo-inverse and null-space components of the inertia matrix, the manipulator Jacobian matrix and the generalize...

In this paper, kinetic and kinematic modeling of a 4 wheel steering vehicle is done and its movement is controlled in an optimal way using Linear Quadratic Regulator (LQR). The results are compared with the same control of two-wheel steering case and the advantages are analyzed. In 4 wheel steering vehicles which are nowadays more applicable the number of controlling actuators are more than the...

Visual servoing of robot manipulators is a key technique where video images, i.e. the visual appearance of an object is used to control the end-e ector. Most such methods use robots and cameras that have been calibrated. In this report we suggest a non-metric formulation of visual servoing that works with an uncalibrated stereo rig, i.e. in the projective space associated with it. In consequenc...

The paper aims to analyze the kinematics of a three-degreeof-freedom (3-DOF) in-parallel actuated mechanism, which can be used as a wrist robotic device. Basic kinematic models are given. Due to symmetry in mechanism geometry, the input-output polynomial degree derived in position forward kinematics can be considerably reduced. By analyzing the relationship between the independent and dependent...

In this paper, kinematic modeling and singularity analysis of a three DOF redundant parallel manipulator has been elaborated in detail. It is known, that on the contrary to series manipulators, the forward kinematic map of parallel manipulators involves highly coupled nonlinear equations, whose closed-form solution derivation is a real challenge. This issue is of great importance noting that th...