Alternate Formulations for the Manipulator Inertia Matrix.

Kathryn W. Lilly David E. Orin

Published in: Int. J. Robotics Res. (1991)

Keyphrases

degrees of freedom
computer controlled
control system
path planning
robot manipulators
inverse kinematics
matrix representation
data sets
computer vision
singular value decomposition
similarity matrix
positive definite
force control