Title :
A simple bound for the appropriate pseudoinverse perturbation of robot manipulators
Author :
Mayorga, R.V. ; Milano, N. ; Wong, A.K.C.
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
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.<>
Keywords :
kinematics; manipulators; matrix algebra; Jacobian matrix; inverse kinematics; pseudoinverse perturbation; rank preservation; rate of change matrix infinity norms; robot manipulators; sufficiency condition; Damping; Equations; Jacobian matrices; Kinematics; Manipulators; Orbital robotics; Robots; Robustness; Symmetric matrices; Transmission line matrix methods;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240528
