Implementation of a Jacobian-Transpose Algorithm

摘要

The document describes an implementation of a Cartesian servo algorithm on a seven degree-of-freedom manipulator. In the basic algorithm the servo error is computed in Cartesian coordinates and transformed to joint-space torque commands by use of the transpose of the Jacobian relating the two coordinate systems. The control algorithm is described mathematically and in terms of the computational processes operating in a multiprocessing system to achieve the control. Two applications of the algorithm are described: compliant motions for contact of the arm with the environment, and ping-pong ball catching using real-time visual feedback.