id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
ap-680	Šoch, M.; Lórencz, R.	Solving Inverse Kinematics – A New Approach to the Extended Jacobian Technique	2005	6	.pdf	application/pdf	4123	222	62	d dx J� �( )q q (3) [8] suggested a more general form of optimization with pseudo- -inverse by minimizing objective function g(q): � �d dq q q q q q � � � � �J x I J J+ + g ( ) ( ) ( ) ( ) � � � , (5) where I is identity matrix and � is positive gain constant.	cache/ap-680.pdf	txt/ap-680.txt