DocumentCode
2188531
Title
The class of robot manipulators with bounded Jacobian of the gravity vector
Author
Gunawardana, Ruvinda ; Ghorbel, Fathi
Author_Institution
Dept. of Mech. Eng., Rice Univ., Houston, TX, USA
Volume
4
fYear
1996
fDate
22-28 Apr 1996
Firstpage
3677
Abstract
In order to successfully implement several control laws, a uniform upper bound for the Jacobian of the gravity vector is necessary. However, not all joint configurations of robot manipulators insure the existence of such a bound. In this paper we fully characterize the class of robot manipulators for which the Jacobian of the gravity vector is uniformly bounded. The results in this paper can be easily extended to derive an explicit expression for such a bound in terms of the link parameters
Keywords
Jacobian matrices; gravitation; manipulator dynamics; manipulator kinematics; vectors; bounded Jacobian; dynamics; gravity vector; joint configurations; kinematics; link parameters; manipulators; robot; uniform upper bound; Gravity; Jacobian matrices; Kinematics; Manipulator dynamics; Mechanical engineering; Orbital robotics; Potential energy; Robots; Sufficient conditions; Upper bound;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location
Minneapolis, MN
ISSN
1050-4729
Print_ISBN
0-7803-2988-0
Type
conf
DOI
10.1109/ROBOT.1996.509273
Filename
509273
Link To Document