Hostname: page-component-cd9895bd7-8ctnn Total loading time: 0 Render date: 2024-12-26T21:16:55.969Z Has data issue: false hasContentIssue false
  • English
  • Français

Local SVD inverse of robot Jacobians

Published online by Cambridge University Press:  17 January 2001

Jing Yuan
Jing Yuan
Affiliation:
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hunghom, Kwoloon (Hong Kong) (P.R. of China)mmjyan@polyu.edu.hk
Get access Rights & Permissions [Opens in a new window]

Abstract

This study presents a fast inverse kinematics algorithm for a class of robots, including PUMA and SCARA. It decomposes a robot Jacobian into a product of sub-matrices to locate singularities. Singular value decomposition (SVD) is applied to each singular sub-matrix to find a local least-squares inverse. Perfect inverses are derived for all non-singular sub-matrices. The proposed algorithm is extremely fast. A total inverse requires 54 flops for PUMA and 43 for SCARA. Simulation and experiment are conducted to test the accuracy and real-time speed of the algorithm.

Keywords

Robot JacobianInverse kinematicsSingular value decompositionLeast-squares inverseCartesian space control
Type
Research Article
Information
Robotica , Volume 19 , Issue 1 , January 2001 , pp. 79 - 86
Copyright
© 2001 Cambridge University Press

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.)