Open AccessSingularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates
Author(s) -
Moritz Schappler,
Tobias Ortmaier
Publication year - 2021
Language(s) - English
Resource type - Conference proceedings
DOI - 10.5220/0010621103380349
Subject(s) - orientation (vector space) , robot , projection (relational algebra) , computer science , singularity , task (project management) , computer vision , control theory (sociology) , artificial intelligence , mathematics , algorithm , geometry , engineering , control (management) , systems engineering