Singularity robust algorithm in serial manipulators

• Main Authors: Oetomo, D., Ang Jr, M.H.
• Other Authors: MECHANICAL ENGINEERING
• Format: Article
• Published: 2014
• Subjects: Internal joint motion; Null motion; Singularity handling; Singularity identification
• Online Access: http://scholarbank.nus.edu.sg/handle/10635/61322
• Institution: National University of Singapore

10.1016/j.rcim.2007.09.007