MOTION CONTROL METHOD AND DEVICE FOR ARTICULATED MANIPULAOR

PURPOSE:To achieve stable action at and around a singular point by using a pseudo inverse matrix at the singular point where a determinant of a Jacobian matrix is a specific one, and using a matrix of an inverse matrix combined with the pseudo inverse matrix at the singular point closest to its neig...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	NANJO YOSHITO, KATAYAMA YUKIHISA
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS MANIPULATORS PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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