When a secondary task is defined directly in the configuration space, such as a nullspace bias or velocity damping, we can optimize performance by searching for the correct scaling factor with a simplified matrix inversion.
In the SNS IEEE journal paper, see Remark 3 in section VI for details .
When a secondary task is defined directly in the configuration space, such as a nullspace bias or velocity damping, we can optimize performance by searching for the correct scaling factor with a simplified matrix inversion.
In the SNS IEEE journal paper, see Remark 3 in section VI for details .