Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/7555
DC Field | Value | Language |
---|---|---|
dc.contributor | Department of Mechanical Engineering | - |
dc.creator | Yuan, J | - |
dc.date.accessioned | 2015-06-23T09:11:51Z | - |
dc.date.available | 2015-06-23T09:11:51Z | - |
dc.identifier.issn | 0263-5747 | - |
dc.identifier.uri | http://hdl.handle.net/10397/7555 | - |
dc.language.iso | en | en_US |
dc.publisher | Cambridge Univ Press | en_US |
dc.subject | Cartesian space control | en_US |
dc.subject | Inverse kinematics | en_US |
dc.subject | Least-squares inverse | en_US |
dc.subject | Robot Jacobian | en_US |
dc.subject | Singular value decomposition | en_US |
dc.title | Local SVD inverse of robot Jacobians | en_US |
dc.type | Journal/Magazine Article | en_US |
dc.identifier.spage | 79 | - |
dc.identifier.epage | 86 | - |
dc.identifier.volume | 19 | - |
dc.identifier.issue | 1 | - |
dc.identifier.doi | 10.1017/S0263574700002769 | - |
dcterms.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. | - |
dcterms.accessRights | open access | en_US |
dcterms.bibliographicCitation | Robotica, 2001, v. 19, no. 1, p. 79-86 | - |
dcterms.isPartOf | Robotica | - |
dcterms.issued | 2001 | - |
dc.identifier.isi | WOS:000166906900009 | - |
dc.identifier.scopus | 2-s2.0-0035008539 | - |
dc.identifier.rosgroupid | r00595 | - |
dc.description.ros | 2000-2001 > Academic research: refereed > Publication in refereed journal | - |
dc.description.oa | Version of Record | en_US |
dc.identifier.FolderNumber | OA_IR/PIRA | en_US |
dc.description.pubStatus | Published | en_US |
Appears in Collections: | Journal/Magazine Article |
Files in This Item:
File | Description | Size | Format | |
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Yuan_Local_SVD_Inverse.pdf | 314.46 kB | Adobe PDF | View/Open |
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