Efficient Computation of the Jacobian for Robot Manipulators

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	Efficient Computation of the Jacobian for Robot Manipulators
	David E. Orin; William W. Schrader
	1984
发表期刊	The International Journal of Robotics Research
卷号	3 期号:4 页码:66-75
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.
收录类别	其他
合作性质	其它
语种	英语
内容类型	期刊论文
URI标识	http://ir.iscas.ac.cn/handle/311060/1310
专题	中国科学院软件研究所
推荐引用方式 GB/T 7714	David E. Orin,William W. Schrader. Efficient Computation of the Jacobian for Robot Manipulators[J]. The International Journal of Robotics Research,1984,3(4):66-75.
APA	David E. Orin,&William W. Schrader.(1984).Efficient Computation of the Jacobian for Robot Manipulators.The International Journal of Robotics Research,3(4),66-75.
MLA	David E. Orin,et al."Efficient Computation of the Jacobian for Robot Manipulators".The International Journal of Robotics Research 3.4(1984):66-75.