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An Efficient Computational Method of the Jacobian for Robot Manipulators
Published online by Cambridge University Press: 09 March 2009
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.
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- Copyright © Cambridge University Press 1991
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