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题名:
Efficient Computation of the Jacobian for Robot Manipulators
作者: David E. Orin ; William W. Schrader
刊名: The International Journal of Robotics Research
发表日期: 1984
卷: 3, 期:4, 页:66-75
收录类别: 其他
合作性质: 其它
英文摘要: This paper discucsses and compares six different methods for calculating the Jacobian for a general N-degree-of freedom manipulator. We enumerate the computational efficiency of each in terms of the total number of multiplications, addi tions/subtractions, and trigonometric functions required as well as in terms of the number of matrix-vector operations needed. We also give the execution times on a PDP-11/70 minicomputer for determining the Jacobian for an example seven-degree-of-freedom manipulator. This paper formulates one of the best new methods for determining the Jacobian.
语种: 英语
内容类型: 期刊论文
URI标识: http://ir.iscas.ac.cn/handle/311060/1310
Appears in Collections:软件所图书馆_期刊论文

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Recommended Citation:
David E. Orin,William W. Schrader. Efficient Computation of the Jacobian for Robot Manipulators[J]. The International Journal of Robotics Research,1984-01-01,3(4):66-75.
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