The singular vector algorithm for the computation of rank-deficiency loci of rectangular Jacobians

Dupuis, E; Papadopoulos, E; Hayward, V

dc.contributor.author	Dupuis, E	en
dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Hayward, V	en
dc.date.accessioned	2014-03-01T02:49:06Z
dc.date.available	2014-03-01T02:49:06Z
dc.date.issued	2001	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34303
dc.subject	Degree of Freedom	en
dc.subject	Singular Value	en
dc.subject	Singular Vector	en
dc.title	The singular vector algorithm for the computation of rank-deficiency loci of rectangular Jacobians	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.2001.973378	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2001.973378	en
heal.publicationDate	2001	en
heal.abstract	This paper presents a novel approach to compute the rank-deficiency locus of nonsquare Jacobian matrices. This algorithm is based on the computation of the singular vectors associated to zero singular values of the Jacobian. Examples are provided to illustrate the application of the algorithm. Results an shown for a four degree-of-freedom and a seven degree-of-freedom manipulator	en
heal.journalName	International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.2001.973378	en