Name
Abstract | ||
|---|---|---|
Extended Jacobian inverse kinematics algorithms for redundant robotic manipulators are defined by combining the manipulator's kinematics with an augmenting kinematics map in such a way that the combination becomes a local diffeomorphism of the augmented taskspace. A specific choice of the augmentation relies on the optimal approximation by the extended Jacobian of the Jacobian pseudoinverse (the Moore-Penrose inverse of the Jacobian). In this paper, we propose a novel formulation of the approximation problem, rooted conceptually in the Riemannian geometry. The resulting optimality conditions assume the form of a Poisson equation involving the Laplace-Beltrami operator. Two computational examples illustrate the theory. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/TRO.2008.2006240 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
moore-penrose inverse,robotic manipulators,poisson equation,laplace-beltrami operator,inverse kinematics algorithm,kinematics algorithms,extended jacobian,approximation problem,optimal approximation,optimal extended jacobian inverse,jacobian pseudoinverse,augmenting kinematics,riemannian geometry,robot kinematics,laplace beltrami operator,inverse kinematics,approximation,mobile computing,moore penrose inverse,approximation algorithms,computational geometry,convergence | Local diffeomorphism,Approximation algorithm,Kinematics,Inverse kinematics,Jacobian matrix and determinant,Control theory,Computational geometry,Moore–Penrose pseudoinverse,Algorithm,Robot kinematics,Mathematics | Journal |
Volume | Issue | ISSN |
24 | 6 | 1552-3098 |
Citations | PageRank | References |
8 | 0.59 | 11 |
Authors | ||
1 | ||