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Diagonalized Lagrangian Robot Dynamics

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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