Abstract
A more efficient method for computing the Jacobian matrix for robot manipulators is developed. Compared with the existing methods, the number of required numerical operations is greatly reduced, making the proposed technique the fastest or the least expensive one for any general N degrees-of-freedom manipulator.
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© 1991 Springer-Verlag Wien
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Li, CJ., Hemami, A., Sankar, T.S. (1991). An Efficient Computational Method of the Jacobian for Robot Manipulators. In: Stifter, S., Lenarčič, J. (eds) Advances in Robot Kinematics. Springer, Vienna. https://doi.org/10.1007/978-3-7091-4433-6_8
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DOI: https://doi.org/10.1007/978-3-7091-4433-6_8
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82302-6
Online ISBN: 978-3-7091-4433-6
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