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Solver: Investigate GCP solver #78

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gkjohnson opened this issue Feb 5, 2021 · 0 comments

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gkjohnson commented Feb 5, 2021 •

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Overview Paper

https://www.researchgate.net/publication/325950583_An_Algorithm_for_Trajectory_Generation_in_Redundant_Manipulators_with_Joint_Transmission_Accommodation

Notes

To Lookup / Refresh

LU Factorization
QR Decomposition
Screw theory / screw (translation and rotation axis definition)

Other

https://www.researchgate.net/publication/266572408_Generalized_Coordinate_Partitioning_Methods_for_Numerical_Integration_of_Differential-Algebraic_Equations_of_Dynamics

https://www.researchgate.net/publication/317899926_Computational_Methods_for_Dynamics_and_Mobility_Analysis_of_Multiloop_Mechanisms_and_Robotic_Systems

gkjohnson added this to the v0.0.x milestone

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