Study of singularity robust inverse of Jacobian matrix for manipulator

Proceedings of 2002 International Conference on Machine Learning and Cybernetics

Volumn 1, Issue , 2002, Pages 406-410

  Hu, Zhun Qing ^a   Fu, Zhi Guo ^b   Fang, Hai Rong ^a  

^a BEIJING JIAOTONG UNIVERSITY   (China)

^b Ministry of Railways   (China)

Author keywords

Jacobian matrix; Manipulator; Reciprocal screws; Singularity robust inverse

Indexed keywords

INVERSE PROBLEMS; KINEMATICS; LINEAR CONTROL SYSTEMS; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; ROBUSTNESS (CONTROL SYSTEMS); STATE SPACE METHODS;

JACOBIAN MATRIX; KINEMATIC MODEL; SERIAL MANIPULATOR; SINGULARITY ROBUST INVERSE;

CONTROL SYSTEM ANALYSIS;

EID: 0036925511     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

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9. Fang, Y. and Tsai, L. W. Feasible Motion Solutions for Serial Manipulators at Singular Configurations. Submitted for publication, ASME Transactions, Journal of Mechanical Design, Paper No. 020220. 2002