TY - JOUR
T1 - A new implementation for online calculation of manipulator Jacobian
AU - Chembrammel, Pramod
AU - Kesavadas, Thenkurussi
N1 - Publisher Copyright:
© 2019 Chembrammel, Kesavadas. This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.
PY - 2019/2
Y1 - 2019/2
N2 - This paper describes a new implementation for calculating Jacobian and its time derivative for robot manipulators in real-time. The estimation of Jacobian is the key in the real-time implementation of kinematics and dynamics of complex planar or spatial robots with fixed as well as floating axes in which the Jacobian form changes with the structure. The proposed method is suitable for such implementations. The new method is based on matrix differential calculus. Unlike the conventional methods, which are based on screw theory, the Jacobian calculation in the proposed approach has been reduced to the inner product of two matrices. Use of the new method to derive linear and angular velocity parts of Jacobian and its time derivative is described in detail. We have demonstrated the method using a two-DOF spatial robot and a hyper-redundant spatial robot.
AB - This paper describes a new implementation for calculating Jacobian and its time derivative for robot manipulators in real-time. The estimation of Jacobian is the key in the real-time implementation of kinematics and dynamics of complex planar or spatial robots with fixed as well as floating axes in which the Jacobian form changes with the structure. The proposed method is suitable for such implementations. The new method is based on matrix differential calculus. Unlike the conventional methods, which are based on screw theory, the Jacobian calculation in the proposed approach has been reduced to the inner product of two matrices. Use of the new method to derive linear and angular velocity parts of Jacobian and its time derivative is described in detail. We have demonstrated the method using a two-DOF spatial robot and a hyper-redundant spatial robot.
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U2 - 10.1371/journal.pone.0212018
DO - 10.1371/journal.pone.0212018
M3 - Article
C2 - 30807576
AN - SCOPUS:85062044383
SN - 1932-6203
VL - 14
JO - PloS one
JF - PloS one
IS - 2
M1 - e0212018
ER -