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Differential Kinematic Analysis of General 6R Robot Manipulators Without the Inverse of Jacobian Matrix

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Advances in Robot Kinematics

Abstract

The iterative solution of inverse problem or determination of velocities and accelerations of the general 6R robot manipulator need the inverse of Jacobian matrix. A new solution of these problems without the inverse of Jacobian matrix has been developed and other possible solution has been investigated.

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References

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Author information

Authors and Affiliations

  1. Department of Automatic Control, Faculty of Mechanical Engineering, Czech Technical University of Prague, Technicka 4, 166 07, Praha 6, Czechoslovakia

    Michael Valášek

Authors
  1. Michael Valášek
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Editor information

Editors and Affiliations

  1. RISC-Linz, Research Institute for Symbolic Computation, Johannes Kepler University Linz, Linz, Austria

    Sabine Stifter

  2. Jožef Stefan Institute, Edvard Kardelj University, Ljubljana, Yugoslavia

    Jadran Lenarčič

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© 1991 Springer-Verlag Wien

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Valášek, M. (1991). Differential Kinematic Analysis of General 6R Robot Manipulators Without the Inverse of Jacobian Matrix. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_41

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  • DOI: https://doi.org/10.1007/978-3-7091-4433-6_41

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82302-6

  • Online ISBN: 978-3-7091-4433-6

  • eBook Packages: Springer Book Archive

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