A Weak Generalized Inverse Applied to Redundancy Solving of Serial Chain Robots
Résumé
A peculiar form of right inverse derived from the theory of rectangular matrix determinants is considered instead of the classic Moore-Penrose psueodinverse with the aim to get compact symbolic expressions for the redundancy solving of serial chain robots. Such an approach, essentially based on the of the closed-form expressions of the m m minors of the n m robot Jacobian (m
Domaines
Robotique [cs.RO]
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https://hal.science/hal-02004970
Soumis le : dimanche 3 février 2019-03:19:26
Dernière modification le : lundi 20 novembre 2023-11:44:22
Archivage à long terme le : samedi 4 mai 2019-12:29:42
Dates et versions
Identifiants
- HAL Id : hal-02004970 , version 1
Citer
Bertrand Tondu, Philippe Souères. A Weak Generalized Inverse Applied to Redundancy Solving of Serial Chain Robots. International Conference on Intelligent Autonomous Systems, Jul 2014, Padova, Italy. ⟨hal-02004970⟩
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