Abstract
We compare the main features of the singularity-consistent method and the damped-least-squares method. It is shown that both methods introduce a so-called algorithmic error in the vicinity of a singular point. The direction of this error is, however, different in each method. This is shown to play an important role for system stability.
Original language | English |
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Pages (from-to) | 506-511 |
Number of pages | 6 |
Journal | Proceedings - IEEE International Conference on Robotics and Automation |
Volume | 1 |
Publication status | Published - 1999 Jan 1 |
Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 1999 May 10 → 1999 May 15 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering