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Analog matrix inversion [robot kinematics]

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1 Author(s)
Sturges, R.H., Jr. ; Dept. of Mech. Eng., Carnegie-Mellon Univ., Pittsburgh, PA, USA

The enhancement of robot dynamic performance can be aided by high-speed and, in some cases, low-accuracy calculation of matrices and their inverses. Analog techniques for the calculation of robot kinematics are reviewed and a method for fast matrix inversion is proposed. Tradeoffs in speed and accuracy in such computations are also examined

Published in:

Robotics and Automation, IEEE Journal of  (Volume:4 ,  Issue: 2 )

Date of Publication:

Apr 1988

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