The Shape Jacobian of a Manipulator with Hyper Degrees of Freedom

@inproceedings{Mochiyama1999TheSJ,
  title={The Shape Jacobian of a Manipulator with Hyper Degrees of Freedom},
  author={Hiromi Mochiyama and Hisato Kobayashi},
  booktitle={ICRA},
  year={1999}
}
The Shape Jacobian which i s the counterpart of the manipulator Jacobian plays a key role to control the shape of a manipulator with extraordinarily many degrees of freedom. In this paper, we show some significant properties of the Shape Jacobian; the structure, boundedness, determinant and singularity, in geometric pavor. 

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