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Approximate Jacobian robot control with adaptive Jacobian matrix
42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475), 2004In this paper, we present approximate Jacobian feedback control laws for setpoint control of robot with uncertain kinematics from joint space to task space. An adaptive law is proposed to update the approximate Jacobian matrix to improve the performance.
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Network Observability Analysis Through Measurement Jacobian Matrix Reduction
IEEE Power Engineering Review, 1987A method of observability analysis for the state estimation in power systems is presented. The method is based on a symbolic reduction of the measurement Jacobian matrix without its actual computation. The algorithm is characterized as being extremely simple and fast.
Ilya W. Slutsker, Jon M. Scudder
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A Random Matrix Approach to Manipulator Jacobian
Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, 2013Traditional kinematic analysis of manipulators, built upon a deterministic articulated kinematic modeling often proves inadequate to capture uncertainties affecting the performance of the real robotic systems. While a probabilistic framework is necessary to characterize the system response variability, the random variable/vector based approaches are ...
Javad Sovizi +2 more
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Accumulating Jacobians as chained sparse matrix products
Mathematical Programming, 2003zbMATH Open Web Interface contents unavailable due to conflicting licenses.
Griewank, Andreas, Naumann, Uwe
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The Generalized Jacobian Matrix and the Manipulators Kinetostatic Properties
ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 3, 2010Manipulator kinetostatic performances are usually investigated considering only the geometrical structure of the robot, neglecting the effect of the drive system. In some circumstances this approach may leads to errors and mistakes. This may happen if the actuators are not identical to each other or when the employed transmission ratio are not ...
GIBERTI, HERMES +2 more
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The Jacobian Matrix, Global Univalence and Completely Mixed Games
Mathematics of Operations Research, 1986In this paper we prove global univalence results in R4 when the Jacobian matrices are of the Leontief type. Proofs of these make use of ideas from Gale-Nikaido and some nice game theoretic results on completely mixed games due to Kaplansky.
Parthasarathy, T., Ravindran, G.
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A Framework for Variational Grid Generation: Conditioning the Jacobian Matrix with Matrix Norms
SIAM Journal on Scientific Computing, 2000The authors introduce a new framework for the construction of functionals which characterize properties of candidate mappings. The optimal mapping is obtained by solving most commonly numerically the Euler-Lagrange equations corresponding to the variational problems of minimizing global functionals. Numerical experiments are performed for illustration.
Knupp, Patrick M., Robidoux, Nicolas
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Pilot buses selection based on reduced Jacobian matrix
2015 IEEE International Conference on Smart Energy Grid Engineering (SEGE), 2015The non-supervised insertion of renewable energy sources into electric power networks causes fluctuations that may lead to voltage instability. The simple and coordinated secondary voltage control systems are used to avoid this instability. To obtain maximum regulation performance with optimized number of controllers, an appropriate selection of pilot ...
Nivine Abou Daher +4 more
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Parametric reduction of Jacobian matrix for fault analysis
2010 International Conference on Microelectronics, 2010The paper deals with a fast numerical method for generating the Jacobian matrix of network function for large analog linear circuits. It is based on the use of cofactor matrices. The computational cost of the Jacobian is comparable to the cost of computing a single network function on selected frequencies.
Zdenek Kolka +3 more
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The jacodian matrix for a flexble manipulator
Journal of Robotic Systems, 1995AbstractThis article develops the exact first‐order endpoint Jacobian matrix for a general n‐degrees of freedom tree‐like robot with flexible links. The Jacobian is developed in terms of the joint axes, the link deformations, and the relative position vectors using cross products.
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