Abstract
The paper addresses the synthesis problem of repeatable Jacobian inverse kinematics algorithms for robotic manipulators. For the kinematics of redundancy 1 this synthesis is accomplished by defining an extended Jacobian inverse that in certain sense approximates the Jacobian pseudo-inverse. The approximation problem is formulated in differential geometric terms, and solved using the existing results on the approximation of a prescribed codistribution by an integrable codistribution. As an illustration, extended Jacobian inverses are derived for the normal form kinematics of a stationary manipulator and a mobile robot.
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Janiak, M., Tchoń, K. (2008). Extended Jacobian Inverse Kinematics and Approximation of Distributions. In: Lenarčič, J., Wenger, P. (eds) Advances in Robot Kinematics: Analysis and Design. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8600-7_15
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DOI: https://doi.org/10.1007/978-1-4020-8600-7_15
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-8599-4
Online ISBN: 978-1-4020-8600-7
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