Approximation of Jacobian inverse kinematics algorithms

• Autorzy: Tchoń K. , Karpińska J. , Janiak M.
• Języki publikacji: EN

Abstrakty

EN

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.

Słowa kluczowe

EN

robot inverse kinematics; extended Jacobian; Jacobian pseudoinverse; approximation

PL

kinematyka odwrotna; pseudoodwrotny Jacobian; aproksymacja

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mathematics and Computer Science
• Rocznik: 2009
• Tom: Vol. 19, no 4
• Strony: 519--531
• Opis fizyczny: Bibliogr. 15 poz., rys., tab., wykr.

Twórcy

autor

Tchoń K.

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Karpińska J.

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland

autor

Janiak M.

• Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, Janiszewskiego 11/17, 50-372 Wrocław, Poland

Bibliografia

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• [4] Janiak, M. and Tchoń, K. (2008). Extended Jacobian inverse kinematics and approximation of distributions, in J. Lenarcic and Ph. Wenger (Eds), Advances in Robot Kinematics, Springer Science+Business Media, Berlin, pp. 137-146.
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• [13] Tchoń, K. (2007). Continuation method in robotics, Proceedings of the 7th Conference on Computer Methods and Systems, Cracow, Poland, pp. 17-24.
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• [15] Tchoń, K. and Jakubiak, J. (2006). Extended Jacobian inverse kinematics algorithm for non-holonomic mobile robots, International Journal of Control 79(8): 895-909.