Real-time motion control in the neighborhood of singularities: a comparative study between the SC and the DLS methods

Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    5 Citations (Scopus)

    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 languageEnglish
    Pages (from-to)506-511
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume1
    Publication statusPublished - 1999 Jan 1
    EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
    Duration: 1999 May 101999 May 15

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering

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