Abstract
This paper describes analytical and experimental work for controlling robotic manipulators in the neighbourhood of kinematically singular configurations. The proposed method is based on a damped least-squares solution with user-defined accuracy. Results are given for a five-joint industrial robot.
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© 1993 Springer-Verlag London Limited
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Chiaverini, S., Siciliano, B., Egeland, O. (1993). Robot control in singular configurations — Analysis and experimental results. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036128
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DOI: https://doi.org/10.1007/BFb0036128
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