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• W2125355805 abstract "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 operation that maps an end-effector velocity to a corresponding joint-space velocity can be performed using an O(n) recursive algorithm involving one 6*6 matrix inversion. It is also shown that an alternative recursive algorithm that produces a kinematic singularity measure as a byproduct can be used to perform the Jacobian inverse operation without the need for a matrix inversion. >" @default.
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• W2125355805 date "2002-12-10" @default.
• W2125355805 modified "2023-09-23" @default.
• W2125355805 title "Operator approach to recursive Jacobian inversion and pseudoinversion" @default.
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• W2125355805 doi "https://doi.org/10.1109/robot.1991.131876" @default.
• W2125355805 hasPublicationYear "2002" @default.
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