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The International Journal of Robotics Research
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On Closed Form Expressions for the Singular-Value Decomposition of an Orientational Jacobian and Its Application to a Motion Simulator

Rodney G. Roberts

Department of Electrical Engineering, EAMU-FSU College of Engineering, Florida State University, 2525 Pottsdamer Street, Tallahassee, Florida 32310-6046ee{at}eng.fsu.edu

Daniel W. Repperger

Building 441 AFRL/HECP, Air Force Research Laboratory, Wright Patterson Air Force Base, Dayton, Ohio 45433-7901

This article presents some results on the closed-form, singular-value decomposition of the orientational Jacobian for threeand four-degreeof-freedom wristlike mechanisms. These results are used to study the kinematics of a centrifuge simulator and to determine the centrifuge s limitations in achieving maximum angular velocities. Also, the issue of fault tolerance for a redundant wrist is addressed.

The International Journal of Robotics Research, Vol. 18, No. 1, 109-115 (1999)
DOI: 10.1177/027836499901800107
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