Klein, Charles A., authorMaciejewski, Anthony A., authorMassachusetts Institute of Technology, publisher2007-01-032007-01-031989Maciejewski, 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.http://hdl.handle.net/10217/606The 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.born digitalarticleseng©1989 Massachusetts Institute of Technology.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.singularitiesrobotic manipulatorssingular value decomposition (SVD)Text