Singular value decomposition: computation and applications to robotics
Date
1989
Authors
Klein, Charles A., author
Maciejewski, Anthony A., author
Massachusetts Institute of Technology, publisher
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Abstract
The singular value decomposition has been extensivelv used for the analysis of the kinematic and dynamic characteristics of robotic manipulators. Due to a reputation for being numerically expensive to compute, however, it has not been used for real-time applications. This work illustrates a formulation for the singular value decomposition that takes advantage of the nature of robotics matrix calculations to obtain a computationally feasible algorithm. Several applications, including the control of redundant manipulators and the optimization of dexterity, are discussed. A detailed illustration of the use of the singular value decomposition to deal with the general problem of singularities is also presented.
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Subject
singularities
robotic manipulators
singular value decomposition (SVD)