On Closed Form Expressions for the Singular-Value Decomposition of an Orientational Jacobian and Its Application to a Motion Simulator

On Closed Form Expressions for the Singular-Value Decomposition of an Orientational Jacobian and Its Application to a Motion Simulator

This article presents some results on the closed-form, singular-value decomposition of the orientational Jacobian for threeand four-degreeof-freedom wristlike mechanisms. These results are used to study the kinematics of a centrifuge simulator and to determine the centrifuge s limitations in achievi...

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Bibliographic Details
Published in:The International journal of robotics research Vol. 18; no. 1; pp. 109 - 115
Main Authors: Roberts, Rodney G., Repperger, Daniel W.
Format: Journal Article
Language:English
Published: SAGE Publications 01-01-1999
Online Access:Get full text
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Summary:This article presents some results on the closed-form, singular-value decomposition of the orientational Jacobian for threeand four-degreeof-freedom wristlike mechanisms. These results are used to study the kinematics of a centrifuge simulator and to determine the centrifuge s limitations in achieving maximum angular velocities. Also, the issue of fault tolerance for a redundant wrist is addressed.
ISSN:0278-3649
1741-3176
DOI:10.1177/027836499901800107