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Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs

Shogo Miyata, Sho Miyahara, Dragomir Nenchev. Analytical formula for the pseudoinverse and its application for singular path tracking with a class of redundant robotic limbs. Advanced Robotics, 31(10):509-518, 2017. [doi]

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