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http://hdl.handle.net/10397/7555
Title: | Local SVD inverse of robot Jacobians | Authors: | Yuan, J | Issue Date: | 2001 | Source: | Robotica, 2001, v. 19, no. 1, p. 79-86 | Abstract: | This study presents a fast inverse kinematics algorithm for a class of robots, including PUMA and SCARA. It decomposes a robot Jacobian into a product of sub-matrices to locate singularities. Singular value decomposition (SVD) is applied to each singular sub-matrix to find a local least-square inverse. Perfect inverses are derived for all non-singular sub-matrices. The proposed algorithm is extremely fast. A total inverse requires 54 flops for PUMA and 43 for SCARA. Simulation and experiment are conducted to test the accuracy and real-time speed of the algorithm. | Keywords: | Cartesian space control Inverse kinematics Least-squares inverse Robot Jacobian Singular value decomposition |
Publisher: | Cambridge Univ Press | Journal: | Robotica | ISSN: | 0263-5747 | DOI: | 10.1017/S0263574700002769 |
Appears in Collections: | Journal/Magazine Article |
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Yuan_Local_SVD_Inverse.pdf | 314.46 kB | Adobe PDF | View/Open |
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