Abstract
We present a direct approach to the calculation of the Jacobian matrix of a manipulator. The approach is based on the use of the expression for the forward kinematics of the manipulator in terms of the usual product of Denavit-Hartenberg matrices, combined with the usual velocity calculations in the presence of rotating reference frames. The method is illustrated for the AdeptOne SCARA robot.
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References
Whitney, D. E., “The Mathematics of Coordinated Control of Prosthetic Arms and Manipulators,” Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control Vol. 122, pp. 303–309, 1972.
Paul, R. P., Robot Manipulators (Mathematics, Programming and Control) The MIT Press, Cambridge, Massachusetts, 1981.
Stadler, W., Analytical Robotics McGraw-Hill, New York, to appear Spring 1994.
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© 1994 Springer Science+Business Media New York
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Stadler, W. (1994). Jacobian Motion: A Direct Approach. In: Guttalu, R.S. (eds) Mechanics and Control. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-2425-0_23
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DOI: https://doi.org/10.1007/978-1-4615-2425-0_23
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6029-2
Online ISBN: 978-1-4615-2425-0
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