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On the Use of Metric-Dependent Methods in Robotics

[+] Author Affiliations
Dimiter Zlatanov, Dragomir N. Nenchev

Musashi Institute of Technology, Tokyo, Japan

Paper No. DETC2005-85445, pp. 703-710; 8 pages
  • ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 5th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, Parts A, B, and C
  • Long Beach, California, USA, September 24–28, 2005
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4743-8 | eISBN: 0-7918-3766-1
  • Copyright © 2005 by ASME


It is little known that the popular application of generalized inverses, singular value decomposition, conditioning numbers, and grasp and motion measures to many robotics problems involves the addition of different physical units. To redefine such techniques for proper use, meaningful screw scalar products must be used. The paper studies the use of both frame dependent positive-definite metrics and invariant, indefinite or degenerate, screw products for this purpose. Special attention is given to the diagonalization of the Jacobian matrix.

Copyright © 2005 by ASME
Topics: Robotics



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