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Local SVD inverse of robot Jacobians

Published online by Cambridge University Press:  17 January 2001

Jing Yuan
Jing Yuan
Affiliation:
Department of Mechanical Engineering, The Hong Kong Polytechnic University, Hunghom, Kwoloon (Hong Kong) (P.R. of China)mmjyan@polyu.edu.hk
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Abstract

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This study presents a fast inverse kinematics algorithm for a class of robots, including PUMA and SCARA. It decomposes a robot Jacobian into a product of sub-matrices to locate singularities. Singular value decomposition (SVD) is applied to each singular sub-matrix to find a local least-squares inverse. Perfect inverses are derived for all non-singular sub-matrices. The proposed algorithm is extremely fast. A total inverse requires 54 flops for PUMA and 43 for SCARA. Simulation and experiment are conducted to test the accuracy and real-time speed of the algorithm.

Keywords

Robot JacobianInverse kinematicsSingular value decompositionLeast-squares inverseCartesian space control
Type
Research Article
Information
Robotica , Volume 19 , Issue 1 , January 2001 , pp. 79 - 86
Copyright
© 2001 Cambridge University Press