Name
Title | ||
|---|---|---|
Quadratic Normal Forms Of Redundant Robot Kinematics With Application To Singularity Avoidance |
Abstract | ||
|---|---|---|
We derive a rank condition under which the redundant robot kinematics around a corank 1 singular configuration can be given a quadratic normal form. This normal form is further exploited to introduce new sufficient conditions for local avoidability and unavoidability of singular configurations. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/70.720360 | IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION |
Keywords | Field | DocType |
kinematics, redundant robotic manipulator, normal form, singular configuration, singularity avoidance | Kinematics equations,Inverse kinematics,Control theory,Singular configuration,Robot kinematics,Quadratic equation,Control engineering,Rank condition,Redundancy (engineering),Singularity avoidance,Mathematics | Journal |
Volume | Issue | ISSN |
14 | 5 | 1042-296X |
Citations | PageRank | References |
3 | 0.64 | 8 |
Authors | ||
1 | ||