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An Improved Adaptive Kinematics Jacobian Trajectory Tracking of a Serial Robot Passing Through Singular Configurations

Written By

Ali Taqi Hasan, Hayder M.A.A.Al-Assadi and Ahmed Azlan Mat Isa

Published: 12 August 2010

DOI: 10.5772/10200

From the Edited Volume

Advanced Strategies for Robot Manipulators

Edited by S. Ehsan Shafiei

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Written By

Ali Taqi Hasan, Hayder M.A.A.Al-Assadi and Ahmed Azlan Mat Isa

Published: 12 August 2010