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    Chapter

    A Dynamically Consistent Strategy for Manipulator Control at Singularities

    This paper presents a general strategy for manipulator control at kinematic singularities. The basic idea in this strategy is to treat the manipulator in the neighborhood of singular configurations as a redund...

    Kyong-Sok Chang, Oussama Khatib in Advances in Robot Kinematics and Computational Geometry (1994)