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
fDate :
6/1/2009 12:00:00 AM
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
DOI :
10.1109/TAC.2009.2017959
