The singular vector algorithm for the computation of rank-deficiency loci of rectangular Jacobians

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2001, Pages 324-329

  Dupuis, E ^a   Papadopoulos, E ^b   Hayward, V ^c  

^a CANADIAN SPACE AGENCY   (Canada)

^b NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

^c MCGILL UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); INVERSE KINEMATICS; MATRIX ALGEBRA; VECTORS;

INVERSE KINEMATICS ALGORITHMS; JACOBIAN MATRICES; SINGULAR VECTOR ALGORITHM;

MANIPULATORS;

EID: 0035559097     PISSN: None     EISSN: None     Source Type: Journal    
DOI: 10.1109/IROS.2001.973378     Document Type: Article

References (10)

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6. SSRMS arm control design
7. A partitioned redundancy management scheme for an eight joint revolute manipulator
8. Identification and resolution of structural and algorithmic singularity in redundancy control of serial manipulators
9. Methods for resolving velocity degeneracies of joint-redundant manipulators
10. A study of the Jacobian matrix of serial manipulators