Removing singularities of resolved motion rate control of mechanisms, including self-motion

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 5, 1997, Pages 741-751

  O'Neil, Kevin A ^a   Chen, Yu Che ^b   Seng, Jaiqing ^b  

^a UNIVERSITY OF TULSA   (United States)

^b The University of Tulsa Tulsa   (United States)

Author keywords

Path tracking; Rate control; Self motion; Singularity

Indexed keywords

ALGORITHMS; DIFFERENTIAL EQUATIONS; END EFFECTORS; KINEMATICS; MANIPULATORS; PROBLEM SOLVING;

MOTION RATE CONTROL; PATH TRACKING; SELF MOTION; SINGULARITIES;

MOTION CONTROL;

EID: 0031257029     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.631235     Document Type: Article

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