IEEE - Institute of Electrical and Electronics Engineers, Inc. - Singularity robust manipulator control using virtual joints
Proceedings 2002 IEEE International Conference on Robotics and Automation
Author(s): | D. Oetomo ; M.H. Ang, Jr. ; Tao Ming Lim |
Sponsor(s): | IEEE Robotics & Autom. Soc |
Publisher: | IEEE - Institute of Electrical and Electronics Engineers, Inc. |
Publication Date: | 1 January 2002 |
Conference Location: | Washington, DC, USA, USA |
Conference Date: | 11 May 2002 |
Volume: | 3 |
Page Count: | 6 |
ISBN (Paper): | 0-7803-7272-7 |
DOI: | 10.1109/ROBOT.2002.1013594 |
Regular:
A singularity handling method is proposed in this paper. It is done by introducing virtual redundant joints into the Jacobian matrix to maintain the rank of the Jacobian matrix when singularity... View More