An Efficient Computational Method of the Jacobian for Robot Manipulators
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.
Unable to display preview. Download preview PDF.
- J. Denavit and R.S. Hartenberg, “A kinematic notation for lower-pair mechanisms based on matrices,” ASME J. Appl. Mech., 1955, pp. 215–221.Google Scholar
- J. Lenarcic, “A new method for calculating the Jacobian for a robot manipulator,” Robotica, 1983, pp. 205–209.Google Scholar
- D.E. Orin and W.W. Schrader, “Efficient computation of the Jacobian for robot manipulators,” The Int. J. Robotics Res., Vol. 3, No. 4, Winter 1984, pp. 66–75.Google Scholar
- R.P. Paul, Robot Manipulators: Mathematics, Programming, and Control. The MIT Press, 1981.Google Scholar
- M. Renaud, “Geometric and kinematic models of a robot manipulator: calculation of the Jacobian matrix and its inverse,” Proc. 11th Int. Symp. Ind. Robots, Oct. 1981.Google Scholar
- E.A. Ribble, Synthesis of Human Skeletal Motion and the Design of a Special-Purpose Processor for Real-Time Animation of Human and Animal Motion. M.S. Thesis, The Ohio State University, Columbus, Ohio, 1982.Google Scholar
- D.E. Whitney, “Resolved motion rate control of manipulators and human prosthesis,” IEEE Trans. Man-Machine Systems, Vol. MMS-10, 1969, pp. 303–309.Google Scholar