(Department seminar no. 51)

Time: December 15th, 2016, 11:15
Place: room 208 C-3

Speaker: Ignacy Dulęba

Subject: Repeatable inverse kinematics for manipulators – revisited

For the task of approximation of the pseudo-inverse Jacobian matrix with an extended Jacobian, a computationally effective algorithm will be presented. It will be also shown how to compute manipulability without evaluating the manipulability matrix.