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A Weak Generalized Inverse Applied to Redundancy Solving of Serial Chain Robots

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 302)

Abstract

A peculiar form of right inverse derived from the theory of rectangular matrix determinants is considered instead of the classic Moore–Penrose pseudodinverse with the aim to get compact symbolic expressions for the redundancy solving of serial chain robots. Such an approach, based on the closed-form expressions of the \(m\times m\) minors of the \(m\times n\) robot Jacobian (\(m< n)\) and on its \((m-1)\times (n-1)\) rectangular minors, is proposed as a possible new way for fast computation in inverse kinematic control.

Keywords

Generalized inverse Redundant robot limbs 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Institut National de Sciences Appliqu’eesUniversity of ToulouseToulouseFrance
  2. 2.LAAS/CNRSToulouseFrance

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