DocumentCode
2049554
Title
The singular vector algorithm for the computation of rank-deficiency loci of rectangular Jacobians
Author
Dupuis, E. ; Papadopoulos, E. ; Hayward, V.
Author_Institution
Canadian Space Agency, St-Hubert, Ont., Canada
Volume
1
fYear
2001
fDate
2001
Firstpage
324
Abstract
This paper presents a novel approach to compute the rank-deficiency locus of nonsquare Jacobian matrices. This algorithm is based on the computation of the singular vectors associated to zero singular values of the Jacobian. Examples are provided to illustrate the application of the algorithm. Results an shown for a four degree-of-freedom and a seven degree-of-freedom manipulator
Keywords
Jacobian matrices; redundant manipulators; 4-DOF manipulator; 7-DOF manipulator; kinematically redundant manipulators; nonsquare Jacobian matrices; rank-deficiency locus computation; rectangular Jacobians; singular vector algorithm; zero singular values; Equations; H infinity control; Jacobian matrices; Kinematics; Mechanical engineering; Network address translation; Space shuttles; Space stations; Space technology; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973378
Filename
973378
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