Title :
The singular vector algorithm for the computation of rank-deficiency loci of rectangular Jacobians
Author :
Dupuis, E. ; Papadopoulos, E. ; Hayward, V.
Author_Institution :
Canadian Space Agency, St-Hubert, Ont., Canada
Abstract :
This paper presents a novel approach to compute the rank-deficiency locus of nonsquare Jacobian matrices. This algorithm is based on the computation of the singular vectors associated to zero singular values of the Jacobian. Examples are provided to illustrate the application of the algorithm. Results an shown for a four degree-of-freedom and a seven degree-of-freedom manipulator
Keywords :
Jacobian matrices; redundant manipulators; 4-DOF manipulator; 7-DOF manipulator; kinematically redundant manipulators; nonsquare Jacobian matrices; rank-deficiency locus computation; rectangular Jacobians; singular vector algorithm; zero singular values; Equations; H infinity control; Jacobian matrices; Kinematics; Mechanical engineering; Network address translation; Space shuttles; Space stations; Space technology; Testing;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973378
