IEEE - Institute of Electrical and Electronics Engineers, Inc. - An order (N) recursive inversion of the Jacobian for an N-link serial manipulator

Author(s): Meldrum, D.R. ; Rodriguez, G. ; Franklin, G.F.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Sacramento, CA, USA
Conference Date: 9 April 1991
ISBN (Paper): 0-8186-2163-X
DOI: 10.1109/ROBOT.1991.131768
Regular:

The Jacobian matrix, J, relates joint velocity to Cartesian velocity for an N-link serial manipulator. An operator factorization and inversion of /sup J/* /sup J/ is shown to result in an order... View More

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