Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/7555
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dc.contributorDepartment of Mechanical Engineering-
dc.creatorYuan, J-
dc.date.accessioned2015-06-23T09:11:51Z-
dc.date.available2015-06-23T09:11:51Z-
dc.identifier.issn0263-5747-
dc.identifier.urihttp://hdl.handle.net/10397/7555-
dc.language.isoenen_US
dc.publisherCambridge Univ Pressen_US
dc.subjectCartesian space controlen_US
dc.subjectInverse kinematicsen_US
dc.subjectLeast-squares inverseen_US
dc.subjectRobot Jacobianen_US
dc.subjectSingular value decompositionen_US
dc.titleLocal SVD inverse of robot Jacobiansen_US
dc.typeJournal/Magazine Articleen_US
dc.identifier.spage79-
dc.identifier.epage86-
dc.identifier.volume19-
dc.identifier.issue1-
dc.identifier.doi10.1017/S0263574700002769-
dcterms.abstractThis study presents a fast inverse kinematics algorithm for a class of robots, including PUMA and SCARA. It decomposes a robot Jacobian into a product of sub-matrices to locate singularities. Singular value decomposition (SVD) is applied to each singular sub-matrix to find a local least-square inverse. Perfect inverses are derived for all non-singular sub-matrices. The proposed algorithm is extremely fast. A total inverse requires 54 flops for PUMA and 43 for SCARA. Simulation and experiment are conducted to test the accuracy and real-time speed of the algorithm.-
dcterms.accessRightsopen accessen_US
dcterms.bibliographicCitationRobotica, 2001, v. 19, no. 1, p. 79-86-
dcterms.isPartOfRobotica-
dcterms.issued2001-
dc.identifier.isiWOS:000166906900009-
dc.identifier.scopus2-s2.0-0035008539-
dc.identifier.rosgroupidr00595-
dc.description.ros2000-2001 > Academic research: refereed > Publication in refereed journal-
dc.description.oaVersion of Recorden_US
dc.identifier.FolderNumberOA_IR/PIRAen_US
dc.description.pubStatusPublisheden_US
dc.description.oaCategoryVoR alloweden_US
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