The singular vector algorithm for the computation of rank-deficiency loci of rectangular Jacobians

摘要

This paper presents a novel approach to compute the rank-deficiency locus of nonsquare Jacobian matrices. This algorithm is based on the computation of the singular vectors associated to zero singular values of the Jacobian. Examples are provided to illustrate the application of the algorithm. Results an shown for a four degree-of-freedom and a seven degree-of-freedom manipulator.