DocumentCode
2912800
Title
The shape Jacobian of a manipulator with hyper degrees of freedom
Author
Mochiyama, Hiromi ; Kobayashi, Hisato
Author_Institution
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Tech., Ishikawa, Japan
Volume
4
fYear
1999
fDate
1999
Firstpage
2837
Abstract
The shape Jacobian, which is the counterpart of the manipulator Jacobian, plays a key role to control the shape of a manipulator with extraordinarily many degrees of freedom. In this paper, we show some significant properties of the shape Jacobian, the structure, boundedness, determinant and singularity, in geometric aspects
Keywords
Jacobian matrices; control system analysis; manipulator kinematics; Jacobian matrix; boundedness; hyper DOF manipulator; kinematics; shape Jacobian; singularity; Information science; Jacobian matrices; Kinematics; Manipulators; Robot control; Shape control;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.774027
Filename
774027
Link To Document