Title :
A normal form appraisal of the null space-based singular path tracking
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ., Poland
Abstract :
Within the framework of normal forms of singular robot kinematics, we discuss the possibility of achieving a motion through singular configurations in the null space-based path tracking algorithm, for both the non-redundant as well as redundant kinematics.
Keywords :
"Appraisal","Tracking","Control systems","Manipulator dynamics","Trajectory","Orbital robotics","Cybernetics","Space technology","Robot kinematics","Path planning"
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo ´99. Proceedings of the First Workshop on
Print_ISBN :
0-7803-5655-1
DOI :
10.1109/ROMOCO.1999.791085
