• DocumentCode
    2540166
  • Title

    Efficient method for the calculation of the pseudo inverse kinematic problem

  • Author

    Chevallereau, C. ; Khalil, W.

  • Author_Institution
    Laboratoire d´´Automatique de Nantes UA C.N.R.S., Cedex, France
  • Volume
    4
  • fYear
    1987
  • fDate
    31837
  • Firstpage
    1842
  • Lastpage
    1848
  • Abstract
    This paper presents an efficient algorithm for the solution of the pseudo inverse kinematic problem of robots. The given inverse kinematic calculationcan be usedatthe singular positions and for redundant robots. The presented method has the advantages of being explicit and that it reduces considerably the number of operations compared to the numerical methods.
  • Keywords
    Acceleration; Arm; End effectors; Inverse problems; Jacobian matrices; Open loop systems; Orbital robotics; Robot control; Robot kinematics; Wrist;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation. Proceedings. 1987 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ROBOT.1987.1087898
  • Filename
    1087898
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2540166