Singular value decomposition: computation and applications to robotics
| dc.contributor.author | Klein, Charles A., author | |
| dc.contributor.author | Maciejewski, Anthony A., author | |
| dc.contributor.author | Massachusetts Institute of Technology, publisher | |
| dc.date.accessioned | 2007-01-03T07:26:32Z | |
| dc.date.available | 2007-01-03T07:26:32Z | |
| dc.date.issued | 1989 | |
| dc.description.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. | |
| dc.description.sponsorship | This work was supported by the National Science Foundation under grant DMC-8421321. | |
| dc.format.medium | born digital | |
| dc.format.medium | articles | |
| dc.identifier.bibliographicCitation | Maciejewski, Anthony A. and Charles A. Klein, The Singular Value Decomposition: Computation and Applications to Robotics, International Journal of Robotics Research 8, no. 6 (December 1989): 63-79. | |
| dc.identifier.uri | http://hdl.handle.net/10217/606 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©1989 Massachusetts Institute of Technology. | |
| dc.rights | Copyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright. | |
| dc.subject | singularities | |
| dc.subject | robotic manipulators | |
| dc.subject | singular value decomposition (SVD) | |
| dc.title | Singular value decomposition: computation and applications to robotics | |
| dc.type | Text |
Files
Original bundle
1 - 1 of 1
Loading...
- Name:
- ECEaam00005.pdf
- Size:
- 1.33 MB
- Format:
- Adobe Portable Document Format
- Description: