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A new implementation for online calculation of manipulator Jacobian

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  • Pramod Chembrammel
  • Thenkurussi Kesavadas

Abstract

This paper describes a new implementation for calculating Jacobian and its time derivative for robot manipulators in real-time. The estimation of Jacobian is the key in the real-time implementation of kinematics and dynamics of complex planar or spatial robots with fixed as well as floating axes in which the Jacobian form changes with the structure. The proposed method is suitable for such implementations. The new method is based on matrix differential calculus. Unlike the conventional methods, which are based on screw theory, the Jacobian calculation in the proposed approach has been reduced to the inner product of two matrices. Use of the new method to derive linear and angular velocity parts of Jacobian and its time derivative is described in detail. We have demonstrated the method using a two-DOF spatial robot and a hyper-redundant spatial robot.

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  • Pramod Chembrammel & Thenkurussi Kesavadas, 2019. "A new implementation for online calculation of manipulator Jacobian," PLOS ONE, Public Library of Science, vol. 14(2), pages 1-15, February.
    • Handle: RePEc:plo:pone00:0212018
    DOI: 10.1371/journal.pone.0212018
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    Cited by:

    1. Diego Cerrillo & Antonio Barrientos & Jaime Del Cerro, 2022. "Kinematic Modelling for Hyper-Redundant Robots—A Structured Guide," Mathematics, MDPI, vol. 10(16), pages 1-40, August.

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