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Scaled Jacobian Transpose based Control for Robotic Manipulators

Authors
Lee, An YongYim, JonggukChoi, Youngjin
Issue Date
Oct-2014
Publisher
제어·로봇·시스템학회
Keywords
Jacobian; robotic manipulator; singularity
Citation
International Journal of Control, Automation, and Systems, v.12, no.5, pp.1102 - 1109
Indexed
SCIE
SCOPUS
KCI
Journal Title
International Journal of Control, Automation, and Systems
Volume
12
Number
5
Start Page
1102
End Page
1109
URI
https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/182097
DOI
10.1007/s12555-013-0102-0
ISSN
1598-6446
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.
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