| 摘要 |
A software compensation command is generated to command a linkage to move an end body in a work space. A manipulator Jacobian is computed given a nominal linkage command; and a normalized Jacobian is computed from the manipulator Jacobian, a joint space normalizing matrix Q, and an error space normalizing matrix E. The normalized Jacobian and the Q and E matrices are used to produce the software compensation command.
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