Kinematic control of robot manipulators using filtered inverse

This paper presents a kinematic control scheme for robot manipulators based on an algorithm that dynamically estimates an inverse of the Jacobian matrix. An interesting property of this algorithm is its ability to deal with the problem of kinematic singularities. The output of the algorithm can be interpreted as the filtered inverse of the Jacobian matrix. A case study of a 3-DoF non-redundant manipulator is presented. Some simulation results illustrate the performance of the proposed methodology.