A robust singularity avoidance method with improved path tracking performance for autonomous manipulation - Wang, Mingming; Luo, Jianjun; Yuan, Jianping; Xu, Chen (Chinese Control Conference, 2017)
Keywords: Ellipsoids; Jacobian matrices; Kinematics; Manipulators; path tracking; Prediction algorithms; Shock absorbers; Singular task reconstruction; task-priority; Vectors