Study and resolution of singularities for a 7-DOF redundant manipulator

IEEE Transactions on Industrial Electronics

Volumn 45, Issue 3, 1998, Pages 469-480

  Cheng, Fan Tien ^a   Chen, Jeng Shi ^a   Kung, Fan Chu ^a  

^a NATIONAL CHENG KUNG UNIVERSITY   (Taiwan)

Author keywords

Redundant manipulator; Singularity; Workspace decomposition

Indexed keywords

COMPUTATIONAL METHODS; DEGREES OF FREEDOM (MECHANICS); MATRIX ALGEBRA; OPTIMIZATION; POSITION CONTROL;

NEW SINGULARITY AVOIDANCE (NSA) METHODS; REDUNDANT MANIPULATORS;

MANIPULATORS;

EID: 0032098776     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/41.679005     Document Type: Article

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