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Tham khảo tài liệu 'electrical engineering mechanical systems design handbook dorf crc press 2002819s_13', kỹ thuật - công nghệ, điện - điện tử phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | The inversion of differential kinematics dates back to Whitney59 under the name of resolved motion rate control. The adoption of the pseudoinverse of the Jacobian is due to Klein and Huang.30 More on the properties of the pseudoinverse can be found in Boullion and Odell.4 The use of nullspace joint velocities for redundancy resolution was proposed in Liégeois 33 and further refined in Maciejewski and Klein36 and Yoshikawa60 concerning the choice of objective functions. The reader is referred to Nakamura39 for a complete treatment of redundant robots. The adoption of the damped least-squares inverse was independently presented in Nakamura and Hanafusa40 and Wampler.58 More about kinematic control in the neighborhood of kinematic singularities can be found in Chiaverini.9 The technique for estimating the smallest singular value of the Jacobian is due to Maciejewski and Klein 37 and its modification to include the second smallest singular value was achieved by Chiaverini.10 The use of the damped least-squares inverse for redundant robots was presented in Egeland et al.21 The user-defined accuracy strategy was proposed in Chiaverini et al.12 and further refined in Chiaverini et al.13 A review of the damped least-squares inverse kinematics with experiments on an industrial robot was recently presented.16 Closed-loop inverse kinematics algorithms are discussed in Sciavicco and Siciliano.51 The original Jacobian transpose inverse kinematics algorithm was proposed in Sciavicco and Siciliano 49 the choice of suitable gains for achieving robustness to singularities was discussed in Chiacchio and Siciliano.7 Singular value decomposition of the Jacobian transpose is due to Chiaverini et al.14 Combining the Jacobian transpose solution with the pseudoinverse solution was proposed in Chiac-chio and Siciliano.8 References on the augmented task space approach are Egeland 20 Samson et al. 48 Sciavicco and Siciliano 50 and Seraji.52 The occurrence of artificial singularities was .
