By Topic

The shape Jacobian of a manipulator with hyper degrees of freedom

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

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: