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Optimal Extended Jacobian Inverse Kinematics Algorithm with Application to Attitude Control of Robotic Manipulators

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Robot Motion and Control 2011

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 422))

Abstract

We study the approximation problem of Jacobian inverse kinematics algorithms for robotic manipulators. A novel variational formulation of the problem is explored in the context of the optimal approximation of the Jacobian pseudo inverse algorithm by the extended Jacobian algorithm for the coordinate-free definition of the manipulator’s kinematics. The attitude control problem of a robotic manipulator is solved as an illustration of the approach.

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Author information

Authors and Affiliations

  1. Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372, Wrocław, Poland

    Joanna Karpińska & Krzysztof Tchoń

Authors
  1. Joanna Karpińska
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  2. Krzysztof Tchoń
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Corresponding author

Correspondence to Joanna Karpińska .

Editor information

Editors and Affiliations

  1. , Institute of Control and Systems, Poznań University of Technology, ul. Piotrowo 3a, Poznań, 60-965, Poland

    Krzysztof Kozłowski

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Karpińska, J., Tchoń, K. (2012). Optimal Extended Jacobian Inverse Kinematics Algorithm with Application to Attitude Control of Robotic Manipulators. In: Kozłowski, K. (eds) Robot Motion and Control 2011. Lecture Notes in Control and Information Sciences, vol 422. Springer, London. https://doi.org/10.1007/978-1-4471-2343-9_20

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  • DOI: https://doi.org/10.1007/978-1-4471-2343-9_20

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-2342-2

  • Online ISBN: 978-1-4471-2343-9

  • eBook Packages: EngineeringEngineering (R0)

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