机器人机械臂适当伪逆摄动的一个简单界

Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments Pub Date : 1991-06-19 DOI:10.1109/ICAR.1991.240528

R. Mayorga, N. Milano, A. Wong

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引用次数: 4

摘要

给出了机器人机械手逆运动学计算中适当的伪逆摄动的一种简单方案。该方法基于正确实现雅可比矩阵秩保持的充分性条件的界。这个界是用雅可比矩阵和它的变化率矩阵无穷范数来建立的。

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A simple bound for the appropriate pseudoinverse perturbation of robot manipulators

A simple scheme for the appropriate pseudoinverse perturbation, in the inverse kinematics computation, of robot manipulators is presented. The approach is based on properly implementing a bound for a sufficiency condition for the rank preservation of the Jacobian matrix. This bound is established in terms of the Jacobian matrix and on its rate of change matrix infinity norms.<>

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Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments

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