By Topic

Optimal Extended Jacobian Inverse Kinematics Algorithms for Robotic Manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Tchon, K. ; Inst. of Comput. Eng., Wroclaw Univ. of Technol., Warsaw

Extended Jacobian inverse kinematics algorithms for redundant robotic manipulators are defined by combining the manipulator's kinematics with an augmenting kinematics map in such a way that the combination becomes a local diffeomorphism of the augmented taskspace. A specific choice of the augmentation relies on the optimal approximation by the extended Jacobian of the Jacobian pseudoinverse (the Moore-Penrose inverse of the Jacobian). In this paper, we propose a novel formulation of the approximation problem, rooted conceptually in the Riemannian geometry. The resulting optimality conditions assume the form of a Poisson equation involving the Laplace-Beltrami operator. Two computational examples illustrate the theory.

Published in:

Robotics, IEEE Transactions on  (Volume:24 ,  Issue: 6 )