Resolving redundant manipulator joint rates and identifying special arm configurations using Jacobian null-space bases.
Ron P. PodhorodeskiAndrew A. GoldenbergRobert G. FentonPublished in: IEEE Trans. Robotics Autom. (1991)
Keyphrases
- null space
- singular value decomposition
- human arm
- robotic arm
- novelty detection
- linear discriminant analysis
- degrees of freedom
- principal components
- theoretical guarantees
- singular values
- dimension reduction
- finite dimensional
- low rank
- discriminative information
- intra class
- learning algorithm
- shape analysis
- discriminant analysis
- principal component analysis
- image processing