Adjoint Jacobian closed-loop kinematic control of robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2, Issue , 1996, Pages 1235-1240

  Nenchev, D N ^a   Tsumaki, Y ^a   Uchiyama, M ^a  

^a TOHOKU UNIVERSITY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ASYMPTOTIC STABILITY; CLOSED LOOP CONTROL SYSTEMS; END EFFECTORS; FEEDBACK; KINEMATICS; LYAPUNOV METHODS; MATRIX ALGEBRA; MOTION CONTROL; PERFORMANCE; REDUNDANCY; VELOCITY;

ADJOINT MATRIX; JACOBIAN APPROACH; MANIPULATOR GEOMETRIES; NONREDUNDANT ROBOTIC MECHANISMS; SELF MOTION SINGULARITY; SINGULARITY;

ROBOTICS;

EID: 0029706824     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (23)