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Recursive Construction Of Jacobian Matrix And Its Time Derivative For Robot ArmReport 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.
Document ID
19900000198
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Kreutz, Kenneth K. (Caltech)
Date Acquired
August 14, 2013
Publication Date
April 1, 1990
Publication Information
Publication: NASA Tech Briefs
Volume: 14
Issue: 4
ISSN: 0145-319X
Subject Category
Mathematics And Information Sciences
Report/Patent Number
NPO-17364
Accession Number
90B10198
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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