Extended singular robust inverse solution of redundant serial manipulators
We propose the use of a damping matrix β to replace the unified damping coefficient λ in the singular robust inverse method, allowing for adjustment of the manipulator’s singularity for different joints separately. In addition, the correction coefficient matrix α is employed to eliminate the Jacobia...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-02-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/1687814020907731 |