International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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On the Transforming of Control Space by Manipulator Jacobian

  • Fateh, Mohammad Mehdi (Department of Electrical and Robotic Engineering, Shahrood University of Technology) ;
  • Farhangfard, Hasan (Department of Electrical and Robotic Engineering, Shahrood University of Technology)
  • Published : 2008.02.28
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Abstract

The transposed Jacobian is proposed to transform the control space from task space to joint space, in this paper. Instead of inverse Jacobian, the transposed Jacobian is preferred to avoid singularity problem, short real time calculations and its generality to apply for rectangular Jacobian. On-line Jacobian identification is proposed to cancel parametric errors produced by D-H parameters of manipulator. To identify Jacobian, the joint angles and the end-effector position are measured when tracking a desired trajectory in task space. Stability of control system is analyzed. The control system is simulated for position control of a two-link manipulator driven by permanent magnet dc motors. Simulation results are shown to compare the roles of inverse Jacobian and transposed Jacobian for transforming the control space.

Keywords

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