Desingularization of nonredundant serial manipulator trajectories using puiseux series

IEEE Transactions on Robotics and Automation

Volumn 14, Issue 4, 1998, Pages 590-600

  Lloyd, John E ^a  

^a UNIVERSITY OF BRITISH COLUMBIA   (Canada)

Author keywords

Desingularization; Puiseux series; Singularity; Singularity robust control; Trajectory planning

Indexed keywords

KINEMATICS; MOTION PLANNING; ROBOTICS; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS);

DESINGULARIZATION; KINEMATIC SINGULARITIES; NON-REDUNDANT SERIAL ROBOTS; PUISEUX SERIES; TRAJECTORY PLANNING;

MANIPULATORS;

EID: 0032139828     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.704227     Document Type: Article

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