Scaled Jacobian Transpose based Control for Robotic Manipulators
- Title
- Scaled Jacobian Transpose based Control for Robotic Manipulators
- Author
- 최영진
- Keywords
- Jacobian; robotic manipulator; singularity
- Issue Date
- 2014-10
- Publisher
- 제어·로봇·시스템학회
- Citation
- International Journal of Control, Automation, and Systems, v. 12, NO. 5, Page. 1102-1109
- Abstract
- This paper presents a scaled Jacobian transpose based control method for robotic manipulators as a modification of a conventional Jacobian transpose based method. The proposed method has several advantages such as it shows faster convergence and better tracking performance than the conventional method, furthermore, it does not have any singularity problem similar to the conventional method. The scaled Jacobian transpose is obtained by collecting each pseudoinverse of the column vector of the Jacobian matrix. The proposed method performs a given task well under singular configurations while minimizing the task error. Finally, a few comparative studies with the conventional method are provided to show the effectiveness of the proposed method through simulations.
- URI
- https://link.springer.com/article/10.1007/s12555-013-0102-0https://repository.hanyang.ac.kr/handle/20.500.11754/180881
- ISSN
- 1598-6446;2005-4092
- DOI
- 10.1007/s12555-013-0102-0
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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