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| Efficient Computation of the Jacobian for Robot Manipulators | |
| David E. Orin; William W. Schrader | |
| 1984 | |
| Source | The International Journal of Robotics Research
 |
| Volume | 3Issue:4Pages:66-75 |
| English Abstract | 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. |
| Indexed Type | 其他 |
| Cooperation Status | 其它 |
| Language | 英语 |
| Content Type | 期刊论文 |
| URI | http://ir.iscas.ac.cn/handle/311060/1310 |
| Collection | 中国科学院软件研究所 |
| Recommended Citation 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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| bj01132497.pdf（752KB） | 开放获取 | License | Application Full Text | |||
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