Construct · 1 fields · 1 citations

damped least squares inverse kinematics: a standalone construct

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Robotics

an inverse kinematics method that adds a damping term to the Jacobian pseudoinverse to stay well behaved near singular configurations.

In robotics, damped least squares inverse kinematics refers to an inverse kinematics method that adds a damping term to the Jacobian pseudoinverse to stay well behaved near singular configurations. This meaning comes from Wampler (1986) in IEEE Transactions on Systems, Man, and Cybernetics.[1]

Unit
Recovery means
Measured by

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Nearby constructs

damping3 fields · 4 citationsjingle · one word, three constructs term4 fields · 5 citationsjingle · one word, four constructs well2 fields · 2 citationsjingle · one word, two constructs

References

Wampler, C. (1986). Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods. IEEE Transactions on Systems, Man, and Cybernetics, 16(1), 93-101. https://doi.org/10.1109/tsmc.1986.289285

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