id	author	title	date	pages	extension	mime	words	sentence	flesch	summary	cache	txt
alkej-284	Hassan, Mohammed Y.; Ghintab, Shahad S.	مسيطر قوة- موقع لروبوتات أعادة تأهيل الاطراف السفلية بأستخدام خوارزمية مستعمرة النمل	2017	12	.pdf	application/pdf	4765	292	61	More specifically, the desired dynamic relationship between the end effector position � ∈ �� and the vector of contact forces � ∈ �� are specified as follows [10]: F� − F = K��X� − X� + B��X� � − X� � + M��X� � − X� � … (1) Where the parameter �� ∈ ��×� is the stiffness diagonal matrix, �� ∈ ��×� is the damping diagonal matrix and �� ∈ ��×� is the inertia diagonal matrix. � dr.m.hassan@uotechnology.edu.iq : ا:!10%و89 ا!6%7+ * ssswnh5@yahoo.com : ا��� رو�� ا��ر�د ** �� ا��8 � .	cache/alkej-284.pdf	txt/alkej-284.txt