The singular vector algorithm for the computation of rank-deficiency loci of rectangular Jacobians
نویسندگان
چکیده
This paper presents a novel approach to compute the rank-deficiency locus of non-square Jacobian matrices. This algorithm is based on the computation of the singular vectors associated to zero singular values of the Jacobian. Examples are provided to illustrate the application of the algorithm. Results are shown for a four degree-of-freedom and a seven degree-of-freedom manipulator.
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