Optimal Extended Jacobian Inverse Kinematics Algorithm with Application to Attitude Control of Robotic Manipulators

We study the approximation problem of Jacobian inverse kinematics algorithms for robotic manipulators. A novel variational formulation of the problem is explored in the context of the optimal approximation of the Jacobian pseudo inverse algorithm by the extended Jacobian algorithm for the coordinate-free definition of the manipulator’s kinematics. The attitude control problem of a robotic manipulator is solved as an illustration of the approach.

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