## Info

and af is the reference of av (= qv), Kv and Kpv are positive diagonal matrices. On the other hand, a computed torque method is briefly described as follows. From Equatio: related as

Equation (32) the task-space velocity Vv = [Xq Pe ]T and joint-space velocity qv are

where

Av Bv

From Equation (37) the following equation can be obtained:

Was this article helpful?

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook

## Post a comment