Two approaches to singularity-consistent motion of nonredundant robotic mechanisms

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1996, Pages 1883-1890

  Nenchev, D N ^a   Tsumaki, Y ^a   Uchiyama, M ^a   Senft, V ^a   Hirzinger, G ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL THEORY; MATRIX ALGEBRA; NUMERICAL ANALYSIS; NUMERICAL METHODS; ROBOTICS; ROBOTS; TRACKING (POSITION);

NONREDUNDANT ROBOTIC MECHANISMS; SINGULARITY; SINGULARITY CONSISTENT MOTION; SINGULARITY CONSISTENT NULL SPACE BASED APPROACH; SPLIT JACOBIAN APPROACH; VELOCITY COMMAND GENERATION;

MOTION PLANNING;

EID: 0029694781     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (28)