scientific article; zbMATH DE number 4176520

MaRDI QIDQ3200602zbMATHFDO

Authors John Baillieul, Donald P. Martin

Publication date 1990

zbMATH Keywords

kinematic redundancyalgorithmic singularitiesextended Jacobian techniqueKinematically redundant robotic mechanismsnonhomotopic locally optimal solutions

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Singular perturbations, turning point theory, WKB methods for ordinary differential equations (34E20) Differentiable maps on manifolds (58C25) Theory of singularities and catastrophe theory (58K99)

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