• DocumentCode
    3818153
  • Title

    On Dynamic Properties of Singularity Robust Jacobian Inverse Kinematics

  • Author

    Krzysztof Tchon;Lukasz Malek

  • Author_Institution
    Inst. of Comput. Eng., Control & Robot., Wroclaw Univ. of Technol., Wroclaw
  • Volume
    54
  • Issue
    6
  • fYear
    2009
  • fDate
    6/1/2009 12:00:00 AM
  • Firstpage
    1402
  • Lastpage
    1406
  • Abstract
    In the technical note we examine dynamic properties of the singularity robust Jacobian inverse kinematics algorithm for mobile manipulators. By design, this algorithm operates at regular as well as singular configurations. The main result of the technical note consists in establishing the completeness of the singularity robust algorithm, and in providing a condition for its convergence. Computer simulations illustrate the theory.
  • Keywords
    "Robustness","Jacobian matrices","Kinematics","Manipulator dynamics","Control systems","Motion control","Mobile robots","Control system synthesis","Velocity control","Equations"
  • Journal_Title
    IEEE Transactions on Automatic Control
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.2009.2017959
  • Filename
    5061495
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3818153