Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs
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DOI: 10.1080/01691864.2017.1285721
Abstract: Graphical Abstract Abstract This work introduces a novel formula for calculating the right pseudoinverse, proposed for a class of kinematically redundant robotic limbs with one degree of redundancy. The formula is derived from the Singularity-Consistent… read more here.
Keywords: robotic limbs; formula; singular path; redundant robotic ... See more keywords