Mar 20, 2021 ADPL Roschel, Michael R. CAPT ADPL Cederholm, Christopher R. 22 May 2013. 3697A. IDPL. Ashner, Terri E. LT. 22 May 2017. RS. 1.

where, T is the joint torque, R-1 is a nonlinear mapping from the joint coordinate space to the joint torque space and q, qx , qxx are the robot arm motion

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