Inverse Jacobian regulator for robot manipulator: theory and experiment

In this paper, inverse Jacobian regulators using generalized inverse Jacobian matrix are presented and the stability problems are formulated and solved. The results in this paper provide an answer to the open problem on why the inverse Jacobian setpoint control system can be stabilized even though the inverse Jacobian matrix is structurally very different from transpose Jacobian matrix. A inverse Jacobian regulator with adaptive gravity compensation is also proposed. The extension of the inverse Jacobian regulator to force control problem is also shown. Since generalized inverse Jacobian matrix is used, the proposed controllers can be applied to redundant robots. The theoretical results for free motion control are verified experimentally by implementing the inverse Jacobian regulators on an industrial robot, SONY SCARA robot.