Efficient PUMA manipulator jacobian calculation and inversion

摘要

AbstractAn efficient Jacobian calculation and inversion for a PUMA manipulator permits the real‐time implementation of modern Cartesian space manipulator control techniques. Efficient exact computational formulations for the Jacobian and its inverse have been developed by symbolic reduction techniques. Jacobian computational requirements have been reduced to 66 multiplications and 30 additions. The inverse Jacobian requires only 103 multiplications, 5 divisions, and 70 additions. These computational requirements are easily satisfied in real‐time by modern microprocessor‐based manipulator control sy