On approximate inverse kinematic operators for cartesian space feedback

Two new approximate inverse kinematic operators (AIKO) for Cartesian space feedback are introduced. They are particularly useful for manipulators that do not have a closed form kinematic inverse. Compared to the inverse Jacobian methods, they require fewer computations, are easily applied to redundant manipulators, and they are inherently singularity robust. The effect of the operators on the stability and the performance of the loop is shown with the circle criterion.