# [1]席文明,吴洪涛,罗翔,等.机器人相对雅可比矩阵解析求解方法研究[J].东南大学学报(自然科学版),2002,32(4):614-619.[doi:10.3969/j.issn.1001-0505.2002.04.017] 　Xi Wenming,Wu Hongtao,Luo Xiang,et al.Study of new analytic solution of robotic relative Jacobian matrix[J].Journal of Southeast University (Natural Science Edition),2002,32(4):614-619.[doi:10.3969/j.issn.1001-0505.2002.04.017] 点击复制 机器人相对雅可比矩阵解析求解方法研究() 分享到： var jiathis_config = { data_track_clickback: true };

32

2002年第4期

614-619

2002-07-20

## 文章信息/Info

Title:
Study of new analytic solution of robotic relative Jacobian matrix

1 南京航空航天大学机电学院, 南京 210016; 2 东南大学机械工程系, 南京 210096
Author(s):
1 College of Mechanical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2 Department of Mechanical Engineering, Southeast University, Nanjing 210096, China

Keywords:

TP24
DOI:
10.3969/j.issn.1001-0505.2002.04.017

Abstract:
A Jacobian matrix analytic solution is presented to simplify the calculation of the Jacobian matrix for redundant robot. The merit of this method is to place the base coordinate system in the middle joint to acquire relative Jacobian matrix and make expression of Jacobian matrix simplified. After the formula of documents are used to rewrite elements of Jacobian matrix, the vector cross product is changed into the vector dot product in Jacobian matrix. By rewriting elements of Jacobian matrix, the all formula are explicitly expressed and calculation process is simple and convenient. Compared with the differential transformation and the vector cross product methods, this method is conceptually clear and mathematically canonical. A calculation example shows this method is practical.

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