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Journal of Robotics
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Journal of Robotics
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2022
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Article
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Tab 3
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Research Article
Online Trajectory Tracking Control Based on the Explicit Form of the Equations of Motion for Serial Manipulator Using the New Formulation
Table 3
Computational cost.
Formulations
Estimated CPU time (s)
Kane’s method
46
Lagrange formulation
32
GIM-Christoffel’s algorithm
7
New formulation
3