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Jacobian computational requirements have been reduced to 66 multiplications and 30 additions. The inverse Jacobian requires only 103 multiplications, 5 divisions, and 70 additions. These computational requirements are easily satisfied in real\u2010time by modern microprocessor\u2010based manipulator control systems.<\/jats:p>","DOI":"10.1002\/rob.4620040203","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:41:43Z","timestamp":1183700503000},"page":"185-197","source":"Crossref","is-referenced-by-count":17,"title":["Efficient PUMA manipulator jacobian calculation and inversion"],"prefix":"10.1002","volume":"4","author":[{"suffix":"Jr.","given":"M. B.","family":"Leahy","sequence":"first","affiliation":[]},{"given":"L. M.","family":"Nugent","sequence":"additional","affiliation":[]},{"given":"G. N.","family":"Saridis","sequence":"additional","affiliation":[]},{"given":"K. 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