{"title":"A simple bound for the appropriate pseudoinverse perturbation of robot manipulators","authors":"R. Mayorga, N. Milano, A. Wong","doi":"10.1109/ICAR.1991.240528","DOIUrl":null,"url":null,"abstract":"A simple scheme for the appropriate pseudoinverse perturbation, in the inverse kinematics computation, of robot manipulators is presented. The approach is based on properly implementing a bound for a sufficiency condition for the rank preservation of the Jacobian matrix. This bound is established in terms of the Jacobian matrix and on its rate of change matrix infinity norms.<<ETX>>","PeriodicalId":356333,"journal":{"name":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","volume":"21 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1991-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.1991.240528","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 4
Abstract
A simple scheme for the appropriate pseudoinverse perturbation, in the inverse kinematics computation, of robot manipulators is presented. The approach is based on properly implementing a bound for a sufficiency condition for the rank preservation of the Jacobian matrix. This bound is established in terms of the Jacobian matrix and on its rate of change matrix infinity norms.<>
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