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An Efficient Computational Method of the Jacobian for Robot Manipulators

Changjin Li, Ahmad Hemami, T. S. Sankar

Open publisher page 7 citations

Abstract

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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What this paper is about

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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OpenAlex reports 7 citations for this work. Citation counts describe recorded attention and do not establish research quality.

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Available abstract

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.

Key concepts: Jacobian matrix and determinant, Robot manipulator, Manipulator (device), Degrees of freedom (physics and chemistry), Computer science, Robot, Control theory (sociology), Matrix (chemical analysis)

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