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
fDate :
6/10/1905 12:00:00 AM
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"
Conference_Titel :
System Theory, 1988., Proceedings of the Twentieth Southeastern Symposium on
Print_ISBN :
0-8186-0847-1
DOI :
10.1109/SSST.1988.17095
