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Diagonalized Lagrangian Robot Dynamics
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Diagonalized Lagrangian Robot Dynamics
Jain, A.
;
Rodriguez, G.
URI:
http://hdl.handle.net/2014/32562
Date:
1994-05
Citation:
IEEE International Conference on Robotics and Automation
San Diego, California, USA
Abstract:
A diagonal equation for robot dynamics is developed by combining recent mass matrix factorization results with classical Lagrangian mechanics.
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JPL TRS 1992+
JPL TRS 1992+
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