Singular value decomposition : computation and applications to robotics

Singular value decomposition : computation and applications to robotics

Maciejewski, Anthony A. ; Klein, Charles A.

"This work was supported by the National Science Foundation under grant DMC-8421321."

The singular value decomposition has been extensivelv used for the analysis of the kinematic and dynamic characteristics of robotic manipulators. Due to a reputation for being numerically expensive to compute, however, it has not been used for real-time applications. This work illustrates a formulation for the singular value decomposition that takes advantage of the nature of robotics matrix calculations to obtain a computationally feasible algorithm. Several applications, including the control of redundant manipulators and the optimization of dexterity, are discussed. A detailed illustration of the use of the singular value decomposition to deal with the general problem of singularities is also presented.

Colorado State University. Libraries

1989

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application/pdf

ECEaam00005.pdf

FACFECEN100005ARTI

eng

English

c1989, Massachusetts Institute of Technology