Identification and resolution of structural and algorithmic singularity in redundancy control of serial manipulations
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Publication:4861102
DOI10.1002/rob.4620120702zbMath0839.70020OpenAlexW2039221396MaRDI QIDQ4861102
Kazem Kazerounian, Zhaoyu Wang
Publication date: 3 June 1996
Published in: Journal of Robotic Systems (Search for Journal in Brave)
Full work available at URL: https://doi.org/10.1002/rob.4620120702
singular value decompositionnecessary conditionsglobal optimalityJacobian matrixLagrange problem of optimal control
Automated systems (robots, etc.) in control theory (93C85) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15)
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