An Experimental Study of Resolved Acceleration Control of Robots at Singularities: Damped Least-Squares Approach

DOI10.1115/1.2801224zbMath0893.93020OpenAlexW2007493789MaRDI QIDQ4361163

Miomir Vukobratović, M. Kirćanski, D. Leković, N. Kirćanski

Publication date: 26 October 1997

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.2801224

zbMATH Keywords

singularitytracking problemredundant robotsdamped least squares pseudoinverse of the Jacobian

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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