A new method for calculating the Jacobian for a robot manipulator

1 October 1983

journal article
research article
Published by Cambridge University Press (CUP) in Robotica

Vol. 1 (4) , 205-209
https://doi.org/10.1017/s0263574700002125

Abstract

A new method for calculating the Jacobian for a general n degree-of-freedom robot manipulator is presented and compared with some known other methods. The computational efficiency of the method is estimated in terms of the number of multiplications, additions/subtractions, trigonometric functions required, and the execution time on a VAX 11/750 computer. It is shown that the new method proposed in this paper is one of the most efficient when applied on a robot manipulator with successively parallel or rectangular joint rotations.

Keywords

This publication has 4 references indexed in Scilit:

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Published by Springer Nature ,1984
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Published by Springer Nature ,1982