An Efficient Computational Method of the Jacobian for Robot Manipulators

  • Chang-Jin Li
  • A. Hemami
  • T. S. Sankar
Conference paper


A more efficient method for computing the Jacobian matrix for robot manipulators is developed. Compared with the existing methods, the number of required numerical operations is greatly reduced, making the proposed technique the fastest or the least expensive one for any general N degrees-of-freedom manipulator.


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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Chang-Jin Li
    • 1
  • A. Hemami
    • 1
  • T. S. Sankar
    • 1
  1. 1.Center for Industrial Control, Department of Mechanical EngineeringConcordia UniversityMontrealCanada

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