Displaying similar documents to “A comparison of Jacobian-based methods of inverse kinematics for serial robot manipulators”

Application of the partitioning method to specific Toeplitz matrices

Predrag Stanimirović, Marko Miladinović, Igor Stojanović, Sladjana Miljković (2013)

International Journal of Applied Mathematics and Computer Science

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We propose an adaptation of the partitioning method for determination of the Moore-Penrose inverse of a matrix augmented by a block-column matrix. A simplified implementation of the partitioning method on specific Toeplitz matrices is obtained. The idea for observing this type of Toeplitz matrices lies in the fact that they appear in the linear motion blur models in which blurring matrices (representing the convolution kernels) are known in advance. The advantage of the introduced method...

Approximation of Jacobian inverse kinematics algorithms

Krzysztof Tchoń, Joanna Karpińska, Mariusz Janiak (2009)

International Journal of Applied Mathematics and Computer Science

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This paper addresses the synthesis problem of Jacobian inverse kinematics algorithms for stationary manipulators and mobile robots. Special attention is paid to the design of extended Jacobian algorithms that approximate the Jacobian pseudoinverse algorithm. Two approaches to the approximation problem are developed: one relies on variational calculus, the other is differential geometric. Example designs of the extended Jacobian inverse kinematics algorithm for 3DOF manipulators as well...

Inversion of square matrices in processors with limited calculation abillities

Krzysztof Janiszowski (2003)

International Journal of Applied Mathematics and Computer Science

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An iterative inversion algorithm for a class of square matrices is derived and tested. The inverted matrix can be defined over both real and complex fields. This algorithm is based only on the operations of addition and multiplication. The numerics of the algorithm can cope with a short number representation and therefore can be very useful in the case of processors with limited possibilities, like different neuro-computers and accelerator cards. The quality of inversion can be traced...

On generalized inverses of singular matrix pencils

Klaus Röbenack, Kurt Reinschke (2011)

International Journal of Applied Mathematics and Computer Science

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Linear time-invariant networks are modelled by linear differential-algebraic equations with constant coefficients. These equations can be represented by a matrix pencil. Many publications on this subject are restricted to regular matrix pencils. In particular, the influence of the Weierstrass structure of a regular pencil on the poles of its inverse is well known. In this paper we investigate singular matrix pencils. The relations between the Kronecker structure of a singular matrix...