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Stable Numerical Solution of Inverse Kinematics in Singular Posture and Unsolvable Problem Based on Minimization of Elastic Energy of Virtual Spring

机译：基于虚拟弹簧弹性能量的奇异姿势和无法解决问题的逆运动学稳定数值解

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Masanori Sekiguchi; Naoyuki Takesue;
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3. Instantaneous Inverse Kinematic Solution for Redundant Manipulators Based on Virtual Arms and Its Application to Winding Control [J] . Toshio TSUJI, Seiya NAKAYAMA, Atsushi ARAKI, JSME International Journal. Series C, Mechanical Systems, Machine Elements and Manufacturing . 1995,第1期

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5. NUMERICAL SOLUTION OF SINGULAR INTEGRAL EQUATIONS, WITH APPLICATIONS TO ELASTIC WAVE PROPAGATION PROBLEMS. [D] . SHEU, BOR-CHIOU. 1976

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Stable Numerical Solution of Inverse Kinematics in Singular Posture and Unsolvable Problem Based on Minimization of Elastic Energy of Virtual Spring

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