A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators
In this article, we analyze the singularities of six-degree-of-freedom anthropomorphic manipulators and design a singularity handling algorithm that can smoothly go through singular regions. We show that the boundary singularity and the internal singularity points of six-degree-of-freedom anthropomo...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-06-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881419858910 |