Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-11T01:55:17.663Z Has data issue: false hasContentIssue false
  • English
  • Français

An Efficient Computational Method of the Jacobian for Robot Manipulators

Published online by Cambridge University Press:  09 March 2009

Chang-Jin Li ,
A. Hemami  and
T. S. Sankar
Chang-Jin Li
Affiliation:
Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8
A. Hemami
Affiliation:
Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8
T. S. Sankar
Affiliation:
Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8
Get access Rights & Permissions [Opens in a new window]

Summary

In 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.

Keywords

JacobianComputationRobots
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 231 - 234
Copyright
Copyright © Cambridge University Press 1991

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Whitney, D.E., “Resolved Motion Rate Control of Manipulators and Human Prosthesis” IEEE Trans, on Man-Machine System MMS-10, 303–309 (1969).Google Scholar
2.Lenarcić, J., “A New Method for Calculating the Jacobian for a Robot Manipulator” Robotica 1, part 4, 205–209 (1983).CrossRefGoogle Scholar
3.Orin, D.E. and Schrader, W.W., “Efficient Computation of the Jacobian for Robot Manipulators” Int. J. Robotics Research 3, 66–75 (1984).CrossRefGoogle Scholar
4.Paul, R.P., Robot Manipulators: Mathematics, Control, and Programming (The MIT Press, Cambridge, Mass., 1981).Google Scholar
5.Renaud, M., “Geometric and Kinematic Models of a Robot Manipulator: Calculation of the Jacobian Matrix and its Inverse” Proc. 11th Int. Symp. Industrial Robots (10, 1981).Google Scholar
6.Ribble, E.A., “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 (Department of Electrical Engineering, The Ohio State University, Columbus, Ohio, 1982).Google Scholar
7.Vukobratović, M. and Potkonjak, V., “Contribution of the Forming of Computer Method for Automatic Modelling of Spatial Mechanisms Motion” Mechanism and Machine Theory 14, 179–200 (1979).CrossRefGoogle Scholar
8.Waldron, K.J., “Geometrically Based Manipulator Rate Control Algorithms” Mechanisms and Machine Theory 17, 47–53 (1982).CrossRefGoogle Scholar
9.Denavit, J. and Hartenberg, R.S., “A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices” ASME J. Appl. Mech. 215–221 (06, 1955).CrossRefGoogle Scholar
10.Li, C.-J., “A Fast Computational Method of Lagrangian Dynamics for Robot Manipulators” Int. J. Robotics and Automation 3, 14–20 (1988).Google Scholar