25 search results - page 3 / 5 » Non-commensurate Manipulator Jacobian |
IPPS
1999
IEEE
13 years 12 months ago
1999
IEEE
The system of equations that govern kinematically redundant manipulators is commonly solved by nding the singular value decomposition (SVD) of the corresponding Jacobian matrix. T...
ICRA
2005
IEEE
14 years 1 months ago
2005
IEEE
— This paper presents an approach for haptic rendering of topological constraints to users operating serial virtual linkages. In the proposed approach, a haptic device controller...
TROB
2008
13 years 7 months ago
2008
Abstract--In this paper, the authors examine the problem of designing nominal manipulator Jacobians that are optimally fault tolerant to one or more joint failures. Optimality is d...
ISER
2000
Springer
13 years 11 months ago
2000
Springer
: A solution to the singularity problem is presented from the approach of the operational space formulation which involves both motion and force control. A brief summary of the Ope...
ICRA
2003
IEEE
14 years 28 days ago
2003
IEEE
This paper concerns the singuIariQ of the HALF parallel manipulato,: a novel three degrees offeedom (DoFs) mechanism, with revolute actuators. The parallel manipulato,: pmposedpre...