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

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 journal › Conference article › peer-review

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
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

Cite this

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

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.",

author = "Nenchev, {Dragomir N.} and Yuichi Tsumaki and Masaru Uchiyama",

year = "1999",

month = jan,

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language = "English",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

issn = "1050-4729",

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note = "Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 ; Conference date: 10-05-1999 Through 15-05-1999",

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T1 - Real-time motion control in the neighborhood of singularities

T2 - Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99

AU - Nenchev, Dragomir N.

AU - Tsumaki, Yuichi

AU - Uchiyama, Masaru

PY - 1999/1/1

Y1 - 1999/1/1

N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:0032651795

VL - 1

SP - 506

EP - 511

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

Y2 - 10 May 1999 through 15 May 1999

ER -

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

Abstract

ASJC Scopus subject areas

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