Estimate of the two smallest singular values of the Jacobian Matrix: Application to damped least‐squares inverse kinematics

DOI10.1002/ROB.4620100802MaRDI QIDQ4285156zbMATH OpenOpenAlexFDO

Authors Stefano Chiaverini

Publication date 13 March 1994

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rob.4620100802

zbMATH Keywords

full singular value decompositionindustrial manipulatorsingular configurations

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

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Cites work

• An Estimate for the Condition Number of a Matrix
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Singular value decomposition and least squares solutions
• The singular value decomposition: Its computation and some applications

Cited in

(1)

• An Application of the Singular Value Decomposition to Manipulability and Sensitivity of Industrial Robots

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