{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:41:34Z","timestamp":1777714894123,"version":"3.51.4"},"reference-count":42,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1989,12,1]],"date-time":"1989-12-01T00:00:00Z","timestamp":628473600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1989,12]]},"abstract":"<jats:p>The singular value decomposition has been extensively used for the analysis of the kinematic and dynamic characteristics of robotic manipulators. Due to a reputation for being nu merically expensive to compute, however, it has not been used for real-time applications. This work illustrates a for mulation for the singular value decomposition that takes advantage of the nature of robotics matrix calculations to ob tain a computationally feasible algorithm. Several applica tions, including the control of redundant manipulators and the optimization of dexterity, are discussed. A detailed illus tration of the use of the singular value decomposition to deal with the general problem of singularities is also presented.<\/jats:p>","DOI":"10.1177\/027836498900800605","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"63-79","source":"Crossref","is-referenced-by-count":157,"title":["The Singular Value Decomposition: Computation and Applications to Robotics"],"prefix":"10.1177","volume":"8","author":[{"given":"Anthony A.","family":"Maciejewski","sequence":"first","affiliation":[{"name":"School of Electrical Engineering Purdue University West Lafayette, Indiana 47907"}]},{"given":"Charles A.","family":"Klein","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering The Ohio State University Columbus, Ohio 43210"}]}],"member":"179","published-online":{"date-parts":[[1989,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087792"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1985.1087324"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087809"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087954"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1145\/363235.363249"},{"key":"atypb6","doi-asserted-by":"crossref","unstructured":"Chiu, S.L. 1987 (March 31-April 3, Raleigh, N.C.). Control of redundant manipulators for task compatibility Proc. 1987 IEEE Int. Conf. Robot. Automat. Silver Spring, Md. IEEE Computer Society Press, pp. 1718-1724.","DOI":"10.1109\/ROBOT.1987.1087795"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1137\/0707001"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087918"},{"key":"atypb9","volume-title":"Computer Methods for Mathematical Computations","author":"Forsythe, G.E.","year":"1977"},{"issue":"2","key":"atypb10","first-page":"205","volume":"2","author":"Golub, G.H.","year":"1965","journal-title":"SIAM J. Numer. Anal"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1007\/BF02163027"},{"key":"atypb12","volume-title":"Matrix Computations","author":"Golub, G.H.","year":"1983"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1137\/0106005"},{"key":"atypb14","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087111"},{"key":"atypb15","doi-asserted-by":"publisher","DOI":"10.1515\/crll.1846.30.51"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1983.6313123"},{"key":"atypb18","volume-title":"Solving Least Squares Problems","author":"Lawson, C.L.","year":"1974"},{"key":"atypb19","first-page":"868","author":"Liegeois, A.","year":"1977","journal-title":"IEEE Trans. Sys. Man Cybernet"},{"key":"atypb20","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1145\/355921.355925"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1137\/0907030"},{"key":"atypb23","doi-asserted-by":"publisher","DOI":"10.1016\/0024-3795(86)90171-0"},{"key":"atypb24","volume-title":"The analysis and control of robotic manipulators operating at or near kinematically singular configurations","author":"Maciejewski, A.A.","year":"1987"},{"key":"atypb25","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400308"},{"key":"atypb26","doi-asserted-by":"publisher","DOI":"10.2307\/1267205"},{"key":"atypb27","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087803"},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143764"},{"key":"atypb29","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600201"},{"key":"atypb30","doi-asserted-by":"publisher","DOI":"10.1093\/comjnl\/18.1.74"},{"key":"atypb31","volume-title":"Compact Numerical Methods for Computers: Linear Algebra and Function Minimisation","author":"Nash, J.C.","year":"1979"},{"key":"atypb32","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100102"},{"key":"atypb33","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087833"},{"key":"atypb34","unstructured":"Schimmel, D.E., and Luk, F.T. 1986. A new systolic array for the singular value decomposition . In C. E. Leiserson (ed.): Advanced Research in VLSI . Cambridge, Mass. MIT Press, pp. 205-217."},{"key":"atypb35","doi-asserted-by":"publisher","DOI":"10.1145\/362384.362501"},{"key":"atypb36","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1986.289285"},{"key":"atypb37","doi-asserted-by":"publisher","DOI":"10.1137\/1024100"},{"key":"atypb38","doi-asserted-by":"publisher","DOI":"10.1007\/BF01932678"},{"key":"atypb39","doi-asserted-by":"publisher","DOI":"10.1109\/TMMS.1969.299896"},{"key":"atypb40","unstructured":"Yoshikawa, T. 1984. Analysis and control of robot manipulators with redundancy In M. Brady and R. Paul (eds.): Robotics Research: The First International Symposium. Cambridge, Mass . MIT Press, pp. 735-747."},{"key":"atypb41","doi-asserted-by":"publisher","DOI":"10.1177\/027836498500400201"},{"issue":"1","key":"atypb42","first-page":"113","volume":"2","author":"Yoshikawa, T.","year":"1985","journal-title":"J. Robot. Sys"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498900800605","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836498900800605","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:13:14Z","timestamp":1777457594000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836498900800605"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,12]]},"references-count":42,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1989,12]]}},"alternative-id":["10.1177\/027836498900800605"],"URL":"https:\/\/doi.org\/10.1177\/027836498900800605","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,12]]}}}