Approximation of Jacobian inverse kinematics algorithms

DOI10.2478/V10006-009-0041-3zbMath1300.93123OpenAlexW2080642692MaRDI QIDQ2930589

Krzysztof Tchoń, Mariusz Janiak, Joanna Karpińska

Publication date: 19 November 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/v10006-009-0041-3

zbMATH Keywords

approximationrobot inverse kinematicsextended JacobianJacobian pseudoinverse

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (4)

A Lie symmetry approach for the solution of the inverse kinematics problem ⋮ Approximation of Jacobian inverse kinematics algorithms: differential geometric vs. Variational approach ⋮ A fast evaluation of initial configurations in repeatable inverse kinematics for redundant manipulators ⋮ A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

Cites Work

• A homotopy algorithm for approximating geometric distributions by integrable systems
• Repeatable generalized inverse control strategies for kinematically redundant manipulators
• Repeatability of redundant manipulators: mathematical solution of the problem
• Repeatability of inverse kinematics algorithms for mobile manipulators
• Extended Jacobian inverse kinematics algorithm for nonholonomic mobile robots
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