Title :
Bounds on the largest singular value of the manipulator Jacobian
Author :
Spangelo, Inge ; Sagli, J. Richard ; Egeland, Olav
Author_Institution :
Div. of Eng. Cybern., Norwegian Inst. of Technol., Trondheim, Norway
fDate :
2/1/1993 12:00:00 AM
Abstract :
It is proved that if the manipulator Jacobian is properly scaled, the largest singular value is bounded within a small interval close to unity. In this case, the inverse of the smallest singular value is a good estimate of the condition number. This is useful in singularity analysis. Bounds are derived for a general six-joint manipulator and for the ABB IRb 2000 industrial robot in a case study
Keywords :
control system analysis; industrial robots; manipulators; matrix algebra; ABB IRb 2000 industrial robot; bounds; largest singular value; manipulator Jacobian; singularity analysis; six-joint manipulator; Angular velocity; Councils; Damping; End effectors; Jacobian matrices; Manipulators; Robot kinematics; Robotics and automation; Robustness; Service robots;
Journal_Title :
Robotics and Automation, IEEE Transactions on
