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An Efficient Computational Method of the Jacobian for Robot Manipulators

Published online by Cambridge University Press:  09 March 2009

Chang-Jin Li ,
A. Hemami  and
T. S. Sankar
Chang-Jin Li
Affiliation:
Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8
A. Hemami
Affiliation:
Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8
T. S. Sankar
Affiliation:
Center for Industrial Control, Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Blvd. West, Montreal, Quebec (Canada) H3G 1M8
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Summary

In this paper, an efficient method for computing the Jacobian matrix for robot manipulators on a single processor computer is developed. Compared with the existing methods, the number of required numerical operations is considerably smaller, making the proposed technique the fastest, or the least expensive, one for any general N degrees-of-freedom manipulator.

Keywords

JacobianComputationRobots
Type
Article
Information
Robotica , Volume 9 , Issue 2 , April 1991 , pp. 231 - 234
Copyright
Copyright © Cambridge University Press 1991

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