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least-squares inverse

Robotica (1)

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1 results

Local SVD inverse of robot Jacobians
Jing Yuan
Journal:

Robotica / Volume 19 / Issue 1 / January 2001

Published online by Cambridge University Press:

17 January 2001, pp. 79-86
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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.