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Real-time SVD for the control of redundant robotic manipulators

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dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2015-07-28T20:36:12Z
dc.date.available2015-07-28T20:36:12Z
dc.date.issued1989
dc.description.abstractBy taking advantage of the well-behaved nature of singular values and vectors, the computational expense of determining the SVD of the Jacobian matrix can be reduced to such an extent that on-line calculation becomes feasible. This permits more intelligent use of the extra degrees of freedom present with redundant manipulators, particularly with respect to the optimization of various secondary criteria, including obstacle avoidance, under the constraint of a specified end effector trajectory.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationMaciejewski, Anthony A., Real-Time SVD for the Control of Redundant Robotic Manipulators, IEEE International Conference on Systems Engineering, August 24-26, 1989, Fairborn, Ohio: 549-552.
dc.identifier.urihttp://hdl.handle.net/10217/1296
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1989 IEEE.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectmatrix algebra
dc.subjectrobots
dc.titleReal-time SVD for the control of redundant robotic manipulators
dc.typeText

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