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A new method for calculating the Jacobian for a robot manipulator

Published online by Cambridge University Press:  09 March 2009

Jadran Lenarčič
Jadran Lenarčič
Affiliation:
Department of Automatics, Biocybernetics and Robotics, University of “Edvard Kardelj”, Institut “Jožef Stefan”, Jamova 39, Ljubljana (Yugoslavia)
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Summary

A new method for calculating the Jacobian for a general n degree-of-freedom robot manipulator is presented and compared with some known other methods. The computational efficiency of the method is estimated in terms of the number of multiplications, additions/subtractions, trigonometric functions required, and the execution time on a VAX 11/750 computer. It is shown that the new method proposed in this paper is one of the most efficient when applied on a robot manipulator with successively parallel or rectangular joint rotations.

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Type
Article
Information
Robotica , Volume 1 , Issue 4 , October 1983, pp. 205 - 209
Copyright
Copyright © Cambridge University Press 1983

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References

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