Study of singularity robust inverse of Jacobian matrix for manipulator

Author

Hu, Zhun-qing ; Fu, Zhi-guo ; Fang, Hai-rong

Author_Institution

Coll. of Mech. & Electr. Eng., Northern Jiaotong Univ., Beijing, China

Volume

1

fYear

2002

fDate

2002

Firstpage

406

Abstract

A new solution to the SR-inverse (singularity robust inverse) of a Jacobian matrix for serial manipulators is presented. The joint axis linear dependence and the task space feasible motions at singular configurations are determined by using classified line varieties and reciprocal screws, respectively. By dropping the rank of the Jacobian matrix near singular configurations, an ordinary and systematic arithmetic is obtained. Numerical simulation of PUMA manipulators demonstrates the feasibility of this approach.

Keywords

Jacobian matrices; industrial manipulators; manipulator kinematics; matrix inversion; Jacobian matrix; PUMA manipulator; classified line varieties; inverse kinematics problem; joint axis linear dependence; numerical simulation; ordinary systematic arithmetic; reciprocal screws; serial manipulator; singular configurations; singularity robust inverse; six-joint manipulators; task space feasible motions; velocity-singular configuration; Damping; Educational institutions; Fasteners; Jacobian matrices; Kinematics; Manipulators; Monitoring; Robots; Robustness; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2002. Proceedings. 2002 International Conference on

Print_ISBN

0-7803-7508-4

Type

conf

DOI

10.1109/ICMLC.2002.1176785

Filename

1176785