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Techniques for operating at singular configurations without inducing unacceptably high joint velocities or end effector tracking errors are presented. Extensions to the damped least\u2010squares formulation which incorporate estimates of the proximity to singularities and selective filtering of singular components are illustrated. The generality of the technique presented is illustrated in a computer simulation of a commercially available manipulator operating through singular configurations.<\/jats:p>","DOI":"10.1002\/rob.4620050603","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T08:47:05Z","timestamp":1183711625000},"page":"527-552","source":"Crossref","is-referenced-by-count":206,"title":["Numerical filtering for the operation of robotic manipulators through kinematically singular configurations"],"prefix":"10.1002","volume":"5","author":[{"given":"Anthony A.","family":"Maciejewski","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Charles A.","family":"Klein","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"604","volume-title":"Some facts concerning the inverse kinematics of redundant manipulators","author":"Baker D. 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