Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/7555
Title: Local SVD inverse of robot Jacobians
Authors: Yuan, J 
Keywords: Cartesian space control
Inverse kinematics
Least-squares inverse
Robot Jacobian
Singular value decomposition
Issue Date: 2001
Publisher: Cambridge Univ Press
Source: Robotica, 2001, v. 19, no. 1, p. 79-86 How to cite?
Journal: Robotica 
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.
URI: http://hdl.handle.net/10397/7555
ISSN: 0263-5747
DOI: 10.1017/S0263574700002769
Appears in Collections:Journal/Magazine Article

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