• DocumentCode
    3782315
  • Title

    A normal form appraisal of the null space-based singular path tracking

  • Author

    K. Tchon

  • Author_Institution
    Inst. of Eng. Cybern., Wroclaw Univ., Poland
  • fYear
    1999
  • Firstpage
    263
  • Lastpage
    271
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Robot Motion and Control, 1999. RoMoCo ´99. Proceedings of the First Workshop on
  • Print_ISBN
    0-7803-5655-1
  • Type

    conf

  • DOI
    10.1109/ROMOCO.1999.791085
  • Filename
    791085
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3782315