- Tytuł:
- Approximation of Jacobian inverse kinematics algorithms
- Autorzy:
-
Tchoń, K.
Karpińska, J.
Janiak, M. - Powiązania:
- https://bibliotekanauki.pl/articles/929992.pdf
- Data publikacji:
- 2009
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Tematy:
-
kinematyka odwrotna
pseudoodwrotny Jacobian
aproksymacja
robot inverse kinematics
extended Jacobian
Jacobian pseudoinverse
approximation - Opis:
- 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. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well as for the unicycle mobile robot illustrate the theoretical concepts.
- Źródło:
-
International Journal of Applied Mathematics and Computer Science; 2009, 19, 4; 519-531
1641-876X
2083-8492 - Pojawia się w:
- International Journal of Applied Mathematics and Computer Science
- Dostawca treści:
- Biblioteka Nauki
Artykuł