2002•Unpublished venueRequires access

The analytical Jacobian and its derivative for a parallel manipulator

S. Dutré, Herman Bruyninckx, Joris De Schutter

Abstract

This paper finds an analytical expression for the Jacobian matrix of a parallel manipulator as well as for its derivatives (with respect to time or to a change in joint angles) of any order. The most important part in the presented procedures is the closed-form expression for the velocity closure equations of the manipulator.

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Available abstract

Key concepts: Jacobian matrix and determinant, Parallel manipulator, Expression (computer science), Manipulator (device), Closure (psychology), Computer science, Order (exchange), Derivative (finance)