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dc.contributor.authorKlein, Charles A.
dc.contributor.authorMaciejewski, Anthony A.
dc.date.accessioned2007-01-03T08:09:29Z
dc.date.available2007-01-03T08:09:29Z
dc.date.issued1988
dc.descriptionIncludes bibliographical references (pages 551-552).
dc.descriptionAbstract also in Japanese.
dc.description.abstractThe loss of independent degrees of freedom at singular configurations is an inherent characteristic of robotic manipulators. Due to the unavoidable singularity of mechanical wrists, singular configurations cannot be avoided by simply restricting the bounds of the workspace. Techniques for operating at singular configurations without inducing unacceptably high joint velocities or end effector tracking errors are presented. Extensions to the damped least-squares formulation which incorporate estimates of the proximity to singularities and selective filtering of singular components are illustrated. The generality of the technique presented is illustrated in a computer simulation of a commercially available manipulator operating through singular configurations.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationMaciejewski, Anthony A. and Charles A. Klein, Numerical Filtering for the Operation of Robotic Manipulators through Kinematically Singular Configurations, Journal of Robotic Systems 5, no. 6 (1988): 527-552.
dc.identifier.urihttp://hdl.handle.net/10217/67337
dc.languageEnglish
dc.publisherColorado State University. Libraries
dc.publisher.originalJohn Wiley & Sons
dc.relation.ispartofFaculty Publications - Department of Electrical and Computer Engineering
dc.rights©1988 John Wiley & Sons
dc.subjectdamping factor
dc.subjectend effector velocity
dc.subjectarticulated manipulators
dc.subjectdamped least-squares
dc.subject.lcshJacobian matrix
dc.titleNumerical filtering for the operation of robotic manipulators through kinematically singular configurations
dc.typeText


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