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Definition of "Cartesian-based control" |
the system depicted in the figure. Notice that inverse kinematics is embedded into the feedback control loop. Due to the inverse kinematics calculations, Cartesian-based control is of greater computational complexity. Here Xd , X'd , and X''d denote position, velocity, and acceleration of the desired trajectory in Cartesian space. τ is a vector of generalized forces and q is a vector of generalized positions. |
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