Title :
The shape Jacobian of a manipulator with hyper degrees of freedom
Author :
Mochiyama, Hiromi ; Kobayashi, Hisato
Author_Institution :
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Tech., Ishikawa, Japan
Abstract :
The shape Jacobian, which is the counterpart of the manipulator Jacobian, plays a key role to control the shape of a manipulator with extraordinarily many degrees of freedom. In this paper, we show some significant properties of the shape Jacobian, the structure, boundedness, determinant and singularity, in geometric aspects
Keywords :
Jacobian matrices; control system analysis; manipulator kinematics; Jacobian matrix; boundedness; hyper DOF manipulator; kinematics; shape Jacobian; singularity; Information science; Jacobian matrices; Kinematics; Manipulators; Robot control; Shape control;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.774027
