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

fYear

1991

fDate

19-22 June 1991

Firstpage

1485

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICAR.1991.240528

Filename

240528

Link To Document

https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3340106