Practical Limitations of an Algorithm for the Singular Value Decomposition as Applied to Redundant Manipulators

摘要

The singular value decomposition has been largely used in analyzing kinematics and the dynamic characteristics of robot manipulators. Generally, it needs to find the singular value decomposition of corresponding Jacobian matrix of a robot manipulator, which usually involves a considerable amount of computations. In some cases, this hinders the method from real-time applying. An algorithm proposed by Maciejewski which takes advantage of the nature of robotics matrix calculations is analyzed and improved in this paper. We still obtained the standard SVD of Jacobian in some abnormal cases through our method. A simulation experiment is given to show the effectiveness of our approach