Displaying similar documents to “Approximation of Jacobian inverse kinematics algorithms”

On path following control of nonholonomic mobile manipulators

Alicja Mazur, Dawid Szakiel (2009)

International Journal of Applied Mathematics and Computer Science

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This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of...

Variable measurement step in 2-sliding control

Arie Levant (2000)

Kybernetika

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Sliding mode is used in order to retain a dynamic system accurately at a given constraint and features theoretically-infinite-frequency switching. Standard sliding modes are known to feature finite time convergence, precise keeping of the constraint and robustness with respect to internal and external disturbances. Having generalized the notion of sliding mode, higher order sliding modes preserve or generalize its main properties, improve its precision with discrete measurements and...

A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators

Ignacy Dulęba, Michał Opałka (2013)

International Journal of Applied Mathematics and Computer Science

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The objective of this paper is to present and make a comparative study of several inverse kinematics methods for serial manipulators, based on the Jacobian matrix. Besides the well-known Jacobian transpose and Jacobian pseudo-inverse methods, three others, borrowed from numerical analysis, are presented. Among them, two approximation methods avoid the explicit manipulability matrix inversion, while the third one is a slightly modified version of the Levenberg-Marquardt method (mLM)....

Iterative Learning Control - monotonicity and optimization

David H. Owens, Steve Daley (2008)

International Journal of Applied Mathematics and Computer Science

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The area if Iterative Learning Control (ILC) has great potential for applications to systems with a naturally repetitive action where the transfer of data from repetition (trial or iteration) can lead to substantial improvements in tracking performance. There are several serious issues arising from the "2D" structure of ILC and a number of new problems requiring new ways of thinking and design. This paper introduces some of these issues from the point of view of the research group at...