Singularity avoidance method for dual-arm closed-chain system based on damped least squares
When two manipulators cooperate to clamp a rigid object, a closed chain with both ends fixed is formed. The singularity of a single manipulator causes the closed chain to be at a singularity, which results in uncertainty in the velocity mapping between the terminal and joint space. This study propos...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-10-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806231206940 |