IEEE - Institute of Electrical and Electronics Engineers, Inc. - Operator approach to recursive Jacobian inversion and pseudoinversion

Author(s): Kreutz-Delgado, K. ; Agahi, D. ; Demers, D.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1991
Conference Location: Sacramento, CA, USA
Conference Date: 9 April 1991
Page(s): 1,760 - 1,764
ISBN (Paper): 0-8186-2163-X
DOI: 10.1109/ROBOT.1991.131876
Regular:

Operator forms of the inverse and Moore-Penrose pseudoinverse of the Jacobian for a nonsingular n-link serial spatial manipulator are developed. It is shown that the Jacobian pseudoinverse... View More

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