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The shape Jacobian of a manipulator with hyper degrees of freedom

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2 Author(s)
Mochiyama, H. ; Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Tech., Ishikawa, Japan ; Kobayashi, H.

The shape Jacobian, which is the counterpart of the manipulator Jacobian, plays a key role to control the shape of a manipulator with extraordinarily many degrees of freedom. In this paper, we show some significant properties of the shape Jacobian, the structure, boundedness, determinant and singularity, in geometric aspects

Published in:

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on  (Volume:4 )

Date of Conference:

1999