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A new formulation of the extended Jacobian method and its use in mapping algorithmic singularities for kinematically redundant manipulators.
Charles A. Klein
Caroline Chu-Jenq
Shamim Ahmed
Published in:
IEEE Trans. Robotics Autom. (1995)
Keyphrases
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pairwise
significant improvement
high accuracy
high precision
synthetic data
clustering method
decomposition method
optimization procedure
optimization method
multiscale
cost function
prior knowledge
preprocessing
detection method
vector field
covariance matrix
video sequences