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Keywords: motion planning
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Journal Articles
Publisher: ASME
Article Type: Research Papers
J. Comput. Nonlinear Dynam. January 2009, 4(1): 011012.
Published Online: December 12, 2008
... FR sequence that yields a desired rotational displacement through a simple and inexpensive numerical calculation. The procedure presented here is useful for those motion planning problems wherein the Jacobian is singular or null. The Jacobian of the forward kinematics mapping of six-rotation FR...