DocumentCode
3622729
Title
On Jacobians for robots containing closed kinematic chains
Author
A. Smiarowski;J.N. Anderson
Author_Institution
Center for Manuf. Res. & Technol. Utilization, Tennessee Technol. Univ., Cookeville, TN, USA
fYear
1988
fDate
6/10/1905 12:00:00 AM
Firstpage
464
Lastpage
467
Abstract
Computation of the Jacobian for manipulators containing closed kinematic chains is addressed. Definition of a sufficient minimal Jacobian and its development is presented. This Jacobian is obtained on any of the path-dependent Jacobians using the constraint equations and the concept of a selection matrix. An example based on the GE P-50 robot is presented.
Keywords
"Jacobian matrices","Manipulators","Robot kinematics","Vectors","Actuators","Computer aided manufacturing","Service robots","Angular velocity","Differential equations"
Publisher
ieee
Conference_Titel
System Theory, 1988., Proceedings of the Twentieth Southeastern Symposium on
ISSN
0094-2898
Print_ISBN
0-8186-0847-1
Type
conf
DOI
10.1109/SSST.1988.17095
Filename
17095
Link To Document