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


Av Bv

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

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