Report discusses recursive calculation of Jacobian matrix (J) and derivative of matrix with respect to time (J) for robot arm that has multiple rotary joints. Such calculations used for implementation of linearizing feedback in digital control system for arm.
Recursive Construction Of Jacobian Matrix And Its Time Derivative For Robot Arm
NASA Tech Briefs ; 14 , 4
1990-04-01
Miscellaneous
No indication
English
Inversion Of Jacobian Matrix For Robot Manipulators
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