A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

DOI10.2478/amcs-2013-0028zbMath1282.93187OpenAlexW2030727116MaRDI QIDQ2872871

Michał Opałka, Ignacy Dulȩba

Publication date: 16 January 2014

Published in: International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.2478/amcs-2013-0028

zbMATH Keywords

comparisonapplicationsinverse kinematicsserial manipulatorJacobian methods

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Artificial intelligence for robotics (68T40)

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A novel nonlinear fault tolerant control for manipulator under actuator fault ⋮ Saturating stiffness control of robot manipulators with bounded inputs ⋮ Adaptive impedance control of robot manipulators with parametric uncertainty for constrained path-tracking ⋮ A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators

Cites Work

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• Inverse kinematics in robotics using neural networks
• A study on new right/left inverses of nonsquare polynomial matrices
• Approximation of Jacobian inverse kinematics algorithms
• Motion representations for the Lafferriere-Sussmann algorithm for nilpotent control systems
• An Algorithm for Least-Squares Estimation of Nonlinear Parameters
• A closed‐loop jacobian transpose scheme for solving the inverse kinematics of nonredundant and redundant wrists
• On Iterative Computation of Generalized Inverses and Associated Projections
• A method for the solution of certain non-linear problems in least squares

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