An Efficient Pseudo-Inverse Solution to the Inverse Kinematic Problem for 6-Joint Manipulators
The use of the pseudo-inverse Jacobian matrix makes the solution of the inverse kinematic problem well-defined even at singular configurations of the robot arm, in the neighbourhood of a singularity, however, the computed solution often results in high joint velocities which may not be feasible to t...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
1990-10-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/1990/MIC-1990-4-3.pdf |