Real-time motion control in the neighborhood of singularities: a comparative study between the SC and the DLS methods

We compare the main features of the singularity-consistent (SC) method and the damped-least-squares (DLS) method. It is shown that both methods introduce a so-called algorithmic error in the vicinity of a singular point. The direction of this error is, however, different in each method. This is shown to play an important role for system stability.

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