BOUNDS ON THE LARGEST SINGULAR VALUE OF THE MANIPULATOR JACOBIAN

Authors
SPANGELO I SAGLI JR EGELAND O
Citation
I. Spangelo et al., BOUNDS ON THE LARGEST SINGULAR VALUE OF THE MANIPULATOR JACOBIAN, IEEE transactions on robotics and automation, 9(1), 1993, pp. 93-96
Citations number
5
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Computer Applications & Cybernetics
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
9
Issue
1
Year of publication
1993
Pages
93 - 96
Database
ISI
SICI code
1042-296X(1993)9:1<93:BOTLSV>2.0.ZU;2-Q
Abstract
In this work, we prove that if the manipulator Jacobian is properly sc aled, the largest singular value is bounded within a small interval cl ose to unity. In this case, the inverse of the smallest singular value is a good estimate of the condition number. This is useful in singula rity analysis. Bounds are derived for a general six-joint manipulator and for the ABB IRb 2000 industrial robot in a case study.