A Fast Damped Least-squares Solution To Manipulator Inverse Kinematics And Singularities Prevention

Author

Mayorga, R.V. ; Wong, A.K.C. ; Milano, N.

Author_Institution

Dept. Of Systems Design Eng., U. Of Waterloo, Canada

Volume

fYear

1992

fDate

7-10 Jul 1992

Firstpage

1177

Lastpage

1184

Keywords

Damping; Equations; Jacobian matrices; Kinematics; Manipulators; Orbital robotics; Robots; Robustness; Transmission line matrix methods; Upper bound;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1992., Proceedings of the 1992 lEEE/RSJ International Conference on

ISSN

Print_ISBN

0-7803-0737-2

Type

DOI

10.1109/IROS.1992.594537

Filename

594537

Link To Document