A new Jacobian formulation for general six-revolute manipulators

Autor:	Charles Wampler
Rok vydání:	2002
Předmět:	Computer Science::Robotics symbols.namesake Position (vector) Unit vector Control theory Orientation (geometry) Jacobian matrix and determinant symbols Kinematics Revolute joint Solver Mathematics Sparse matrix
Zdroj:	ICRA Scopus-Elsevier
DOI:	10.1109/robot.1991.131730
Popis:	Conventionally, the kinematics for serial-link manipulators are formed in terms of the joint angles. The author presents an alternative formulation which uses unit vectors along the joint axes as the variables. For the task of updating the manipulator pose for an incremental change in position and orientation, it is shown that the new formulation is approximately equal in computational cost to the traditional method. Compared to the conventional approach, the joint vector formulation has a simple, but larger, sparse Jacobian. Efficiency is achieved by using a sparse matrix solver. >
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c7b2c2c5ca833228b9a35018700f9fe2 https://doi.org/10.1109/robot.1991.131730 Zobrazit plný text záznamu