Abstract
A fast procedure for the computation of manipulator inverse kinematics and pseudoinverse robustness is presented. The approach is based on solving a linear algebraic system and evaluating the norm of the Jacobian matrix. This value is properly used in an original scheme that is also proposed for the appropriate robustness of the pseudoinverse matrix. The developed algorithm is tested on the simulation of a planar redundant manipulator and of an industrial robot arm. From the results obtained it is observed that the proposed approach compares favorably with the approaches using a Gaussian elimination procedure and with pseudoinverse robustness based on a manipulability measure.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Published Version
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE Transactions on Systems, Man, and Cybernetics
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
