Hyperbolic pseudoinverses for kinematics in the Euclidean group

DOI10.1137/16M1090971MaRDI QIDQ4598342zbMATH OpenFDO

Authors J. M. Selig, Peter S. Donelan

Publication date 20 December 2017

Published in SIAM Journal on Matrix Analysis and Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1711.07560

zbMATH Keywords

pseudoinverseindefinite inner productscrew systemEuclidean groupmanipulator Jacobian

Mathematics Subject Classification ID

Theory of matrix inversion and generalized inverses (15A09) Kinematics of mechanisms and robots (70B15) Lie algebras of linear algebraic groups (17B45)

Abstract: The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $mathfrakse(3)$, the space of twists describing infinitesimal motion of a rigid body. Control methods generally require knowledge of an inverse for the Jacobian. However for an arm with fewer or greater than six actuated joints or at singularities of the kinematic mapping this breaks down. The Moore-Penrose pseudoinverse has frequently been used as a surrogate but is not invariant under change of coordinates. Since the Euclidean Lie algebra carries a pencil of invariant bilinear forms that are indefinite, a family of alternative hyperbolic pseudoinverses is available. Generalised Gram matrices and the classification of screw systems are used to determine conditions for their existence. The existence or otherwise of these pseudoinverses also relates to a classical problem addressed by Sylvester concerning the conditions for a system of lines to be in involution or, equivalently, the corresponding system of generalised forces to be in equilibrium.

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(1)

• On orientation, position, and attitude singularities of general 3R chains

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