In this paper a new factorization technique for computation of inverse of mass matrix, and the operational space mass matrix, as arising in implementation of the operational space control scheme, is presented.


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    Title :

    New Factorization Techniques and Fast Serial and Parrallel Algorithms for Operational Space Control of Robot Manipulators


    Contributors:

    Publication date :

    1997-09-03


    Type of media :

    Preprint


    Type of material :

    No indication


    Language :

    English




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