NDLI: Efficient Jacobian inversion for the control of simple robot manipulators

Content Provider	IEEE Xplore Digital Library
Author	Fijany, A. Bejczy, A.K.
Copyright Year	1988
Description	Author affiliation: Jet Propulsion Lab., California Inst. of Technol., CA, USA (Fijany, A.; Bejczy, A.K.)
Abstract	Symbolic inversion of the Jacobian matrix for spherical wrist arms is investigated. It is shown that, taking advantage of the simple geometry of these arms, the closed-form solution of the system Q=J/sup -1/X, representing a transformation from task space to joint space, can be obtained very efficiently. The solutions for PUMA and Stanford arms and a six-revolute-joint coplanar arm, along with all singular points, are presented. The solution for each joint variable is found as an explicit function of the singular points which provided a better insight into the effect of different singular investigated points on the motion and force exertion of each individual joint. For the arms investigated, the computation cost of the solution is the same order as the cost of forward kinematic solution and it is significantly reduced if a forward kinematic solution is already obtained. A comparison with previous methods shows that this method is the most efficient to date.
Starting Page	999
Ending Page	1007
File Size	744405
Page Count	9
File Format	PDF
ISBN	0818608528
DOI	10.1109/ROBOT.1988.12191
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-04-24
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Robot control Manipulators Arm Wrist Kinematics Acceleration Space technology Closed-form solution Computational efficiency
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in