J-PARSE modifies the Jacobian via aspect-ratio thresholding and directional projection to enable stable first-order inverse kinematic velocity control through kinematic singularities in serial manipulators.
The Mathematics of Coordinated Con- trol of Prosthetic Arms and Manipulators
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J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
J-PARSE modifies the Jacobian via aspect-ratio thresholding and directional projection to enable stable first-order inverse kinematic velocity control through kinematic singularities in serial manipulators.