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Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates.

Moritz SchapplerTobias Ortmaier
Published in: ICINCO (2021)
Keyphrases
  • null space
  • robotic systems
  • mobile robot
  • linear discriminant analysis
  • singular value decomposition
  • novelty detection
  • machine learning
  • singular values
  • principal components
  • multi task