Repeatable approximation of the Jacobian pseudo-inverse

DOI10.1016/J.SYSCONLE.2009.10.004zbMath1191.93034OpenAlexW2039927751MaRDI QIDQ976184

Krzysztof Tchoń, Mariusz Janiak

Publication date: 17 June 2010

Published in: Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.sysconle.2009.10.004

zbMATH Keywords

approximationcodistributionextended Jacobian inverseJacobian pseudo-inverseredundant robot kinematics

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Control/observation systems governed by ordinary differential equations (93C15)

Related Items (1)

Approximation of Jacobian inverse kinematics algorithms: differential geometric vs. Variational approach

Cites Work

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• A homotopy algorithm for approximating geometric distributions by integrable systems
• Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators
• 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

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