Repeatable approximation of the Jacobian pseudo-inverse

DOI10.1016/J.SYSCONLE.2009.10.004MaRDI QIDQ976184zbMATH OpenOpenAlexFDO

Authors Krzysztof Tchoń, Mariusz Janiak

Publication date 17 June 2010

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.sysconle.2009.10.004

zbMATH Keywords

approximationcodistributionextended Jacobian inverseJacobian pseudo-inverseredundant robot kinematics

Mathematics Subject Classification ID

Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

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• scientific article; zbMATH DE number 1301653 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• A homotopy algorithm for approximating geometric distributions by integrable systems
• Repeatability of inverse kinematics algorithms for mobile manipulators
• Repeatability of redundant manipulators: mathematical solution of the problem
• Repeatable generalized inverse control strategies for kinematically redundant manipulators
• Repeatable, extended Jacobian inverse kinematics algorithm for mobile manipulators

Cited in

(4)

• scientific article; zbMATH DE number 4176520 (Why is no real title available?)
• Approximation of Jacobian inverse kinematics algorithms: differential geometric vs. Variational approach
• Design of inverse kinematics algorithms: extended jacobian approximation of the dynamically consistent Jacobian inverse
• Hyperbolic pseudoinverses for kinematics in the Euclidean group

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