论文标题
使用基本变换序列计算操纵器Jacobian和Hessian的系统方法
A Systematic Approach to Computing the Manipulator Jacobian and Hessian using the Elementary Transform Sequence
论文作者
论文摘要
基本变换序列（ETS）提供了描述任何串行链接操作器的运动学的通用方法。 ETS表示法是直观且易于理解的，同时避免了Denvit-Hartenberg框架分配的复杂性和局限性。在本文中，我们描述了一种使用ETS符号计算操纵器Jacobian和Hessian（差异运动学）的系统方法。差异运动学具有许多应用，包括数值逆运动学，解决速率运动控制和可操作性运动控制。此外，我们提供一个开源Python库，该库实现了我们的算法，并且可以与任何串行链接操纵器连接（可在github.com/petercorke/robotics-toolbox-python上找到）。
The elementary transform sequence (ETS) provides a universal method of describing the kinematics of any serial-link manipulator. The ETS notation is intuitive and easy to understand, while avoiding the complexity and limitations of Denvit-Hartenberg frame assignment. In this paper, we describe a systematic method for computing the manipulator Jacobian and Hessian (differential kinematics) using the ETS notation. Differential kinematics have many applications including numerical inverse kinematics, resolved-rate motion control and manipulability motion control. Furthermore, we provide an open-source Python library which implements our algorithm and can be interfaced with any serial-link manipulator (available at github.com/petercorke/robotics-toolbox-python).
