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The shape Jacobian of a manipulator with hyper degrees of freedom
Description
The shape Jacobian, which is the counterpart of the manipulator Jacobian, plays a key role to control the shape of a manipulator with extraordinarily many degrees of freedom. In this paper, we show some significant properties of the shape Jacobian, the structure, boundedness, determinant and singularity, in geometric aspects.
Journal
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- Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C)
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Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C) 4 2837-2842, 2003-01-20
IEEE
