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RISAn Experimental Study of Resolved Acceleration Control of Robots at Singularities: Damped Least-Squares Approach
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Most of the robot task space control methods based on inverse Jacobian matrix suffer from instability in singular regions of workspace. Methods based on damped least-squares algorithm (DLS) for ...
Scientific Fundamentals of Robotics 3: Kinematics and Trajectory Synthesis of Manipulation Robots and Scientific Fundamentals of Robotics 4: Real-Time Dynamics of Manipulation Robots and Scientific Fundamentals of Robotics 6: Applied Dynamics and CAD of Manipulation Robots
Publisher: The American Society of Mechanical Engineers (ASME)