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On the Transforming of Control Space by Manipulator Jacobian  

Fateh, Mohammad Mehdi (Department of Electrical and Robotic Engineering, Shahrood University of Technology)
Farhangfard, Hasan (Department of Electrical and Robotic Engineering, Shahrood University of Technology)
Publication Information
International Journal of Control, Automation, and Systems / v.6, no.1, 2008 , pp. 101-108 More about this Journal
Abstract
The transposed Jacobian is proposed to transform the control space from task space to joint space, in this paper. Instead of inverse Jacobian, the transposed Jacobian is preferred to avoid singularity problem, short real time calculations and its generality to apply for rectangular Jacobian. On-line Jacobian identification is proposed to cancel parametric errors produced by D-H parameters of manipulator. To identify Jacobian, the joint angles and the end-effector position are measured when tracking a desired trajectory in task space. Stability of control system is analyzed. The control system is simulated for position control of a two-link manipulator driven by permanent magnet dc motors. Simulation results are shown to compare the roles of inverse Jacobian and transposed Jacobian for transforming the control space.
Keywords
D-H parameters; manipulator Jacobian; task space; transforming of control space;
Citations & Related Records

Times Cited By Web Of Science : 7  (Related Records In Web of Science)
Times Cited By SCOPUS : 9
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