Abstract
The paper presents a new and efficient method for symbolical computation of the Jacobian matrix available for any general redundant or non-redundant n degrees-of-mobility manipulator. Compared with the existing methods the number of required mathematical operations is considerably smaller, making the method remarkably more efficient than the previous methods.
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© 1996 Kluwer Academic Publishers
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Gogu, G., Barraco, A., Coiffet, P. (1996). A New and Efficient Method for Symbolical Calculation of the Jacobian Matrix. In: Lenarčič, J., Parenti-Castelli, V. (eds) Recent Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-009-1718-7_23
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DOI: https://doi.org/10.1007/978-94-009-1718-7_23
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-7269-4
Online ISBN: 978-94-009-1718-7
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