Symbolic singular value decomposition for a PUMA robot and its application to a robot operation near singularities

International Journal of Robotics Research

Volumn 12, Issue 5, 1993, Pages 460-472

  Kircanski, Manja V ^a   Boric, Mirko Dj ^a  

^a MIHAJLO PUPIN INSTITUTE   (Serbia)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL COMPLEXITY; CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); INVERSE PROBLEMS; KINEMATICS; LEAST SQUARES APPROXIMATIONS; MANIPULATORS; MATHEMATICAL MODELS; MOTION CONTROL; POSITION CONTROL; REDUNDANCY;

ANALYTICAL INVERSE KINEMATIC SOLUTION; GAUSSIAN ELIMINATION SOLUTION; JOINT VELOCITIES; PUMA ROBOT; ROBOT OPERATION NEAR SINGULARITIES; SINGULAR VALUE DECOMPOSITION (SVD);

ROBOTS;

EID: 0027675545     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836499301200506     Document Type: Article

References (0)