This invention relates to the field of computer controlled robotics. More specifically, it relates to a novel method and algorithm to symbolically decompose the robot jacobian matrix, in such a way that the robot jacobian Moore-Penrose pseudo-inverse is obtained symbolically even when the robot jacobian...http://www.google.de/patents/US5159249?utm_source=gb-gplus-sharePatent US5159249 - Method and apparatus for controlling robot motion at and near singularities and for robot mechanical design
