A technique for the recursive inversion of matrices and matrix functions is presented. The proposed method can be modelled as a discrete nonlinear dynamic system. Convergence, stability and robustness properties are discussed and eventually verified through various numerical experiments.
References
-
-
1)
-
AICARDI, M., CAITI, A., CANNATA, G., CASALINO, G.: `Stability and robustness analysis of a two layered hierarchical architecture for the closed loop control of robots in the operational space', IEEE Robotics and automation conf, May 1995, Nagoya, Japan.
-
2)
-
WOLOICH, W.A., ELLIOT, H.: `A computational technique for inverse kinematics', Proc. 23rd Conf. Decision and control, 1984, Las Vegas, p. 1359–1363.
-
3)
-
BALESTRINO, A., DE MARIA, G., SCIAVICCO, L.: `Robust control of robotic manipulators', Proc. 9th IFAC World Congress, 1984, 6, p. 80–85.
-
4)
-
AICARDI, M., CAITI, A., CANNATA, G., CASALINO, G.: `Task space robot control: Convergence analysis and gravity compensation via integral feedback', IEEE Conf. on Decision and control, Dec 1996, Kobe, Japan.
-
5)
-
BALESTRINO, A., CANNATA, G.: `Techniques for the recursive inversion of matrices', Internal report, GRAAL IR98-02, July 1998, DIST University of Genova (Contact G. Cannata).
-
6)
-
G.H. Golub ,
C. Van Loan
.
(1996)
Matric computations.
-
7)
-
Z.Y. HSIA ,
Z.Y. GUO ,
L. LI
.
An adaptive scheme for robot joint trajectory generation.
J. Robot. Syst
,
6 ,
881 -
895
http://iet.metastore.ingenta.com/content/journals/10.1049/ip-cta_20010233
Related content
content/journals/10.1049/ip-cta_20010233
pub_keyword,iet_inspecKeyword,pub_concept
6
6