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Published 20 hours ago • verified publisher icon Tom-Forsyth

Detect manipulator singularities

Open Tom-Forsyth opened this issue 1 year ago • 0 comments

Kinematic singularities can cause the M matrix of the LCP to lose rank. Detect these singularities and reduce the dimension of the LCP to yield a valid solution.

Tom-Forsyth avatar Nov 09 '22 06:11 Tom-Forsyth