Efficient PUMA manipulator jacobian calculation and inversion
- 1 April 1987
- journal article
- research article
- Published by Wiley in Journal of Robotic Systems
- Vol. 4 (2) , 185-197
- https://doi.org/10.1002/rob.4620040203
Abstract
An efficient Jacobian calculation and inversion for a PUMA manipulator permits the real‐time implementation of modern Cartesian space manipulator control techniques. Efficient exact computational formulations for the Jacobian and its inverse have been developed by symbolic reduction techniques. Jacobian computational requirements have been reduced to 66 multiplications and 30 additions. The inverse Jacobian requires only 103 multiplications, 5 divisions, and 70 additions. These computational requirements are easily satisfied in real‐time by modern microprocessor‐based manipulator control systems.Keywords
This publication has 11 references indexed in Scilit:
- Experimental determination of the effect of feedforward control on trajectory tracking errorsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Efficient dynamics for a PUMA-600Published by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- The explicit dynamic model and inertial parameters of the PUMA 560 armPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- Real-time implementation and evaluation of model-based controls on CMU DD Arm IIPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1986
- L-Q design of PID controllers for robot armsIEEE Journal on Robotics and Automation, 1985
- Efficient Computation of the Jacobian for Robot ManipulatorsThe International Journal of Robotics Research, 1984
- An iterative algorithm for the robot coordinate transformationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1983
- High speed computation of the inverse Jacobian matrix and of servo inputs for robot arm controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1982
- Resolved-acceleration control of mechanical manipulatorsIEEE Transactions on Automatic Control, 1980
- The Mathematics of Coordinated Control of Prosthetic Arms and ManipulatorsJournal of Dynamic Systems, Measurement, and Control, 1972