Author:
Li Chang-Jin,Hemami A.,Sankar T. S.
Abstract
SUMMARYIn this paper, an efficient method for computing the Jacobian matrix for robot manipulators on a single processor computer is developed. Compared with the existing methods, the number of required numerical operations is considerably smaller, making the proposed technique the fastest, or the least expensive, one for any general N degrees-of-freedom manipulator.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference10 articles.
1. A Fast Computational Method of Lagrangian Dynamics for Robot Manipulators;Li;Int. J. Robotics and Automation,1988
2. Resolved Motion Rate Control of Manipulators and Human Prosthesis;Whitney;IEEE Trans,1969
3. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices;Denavit;ASME J. Appl. Mech.,1955
4. Contribution of the forming of computer methods for automatic modelling of spatial mechanisms motions
5. Efficient Computation of the Jacobian for Robot Manipulators
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献