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Quadratic normal forms of redundant robot kinematics with application to singularity avoidance

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1 Author(s)
Tchona, K. ; Inst. of Eng. Cybern., Wroclaw Univ., Poland

We derive a rank condition under which the redundant robot kinematics around a corank 1 singular configuration can be given a quadratic normal form. This normal form is further exploited to introduce new sufficient conditions for local avoidability and unavoidability of singular configurations

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Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 5 )