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The approach is based on solving a linear system of equations and using an original scheme for the appropriate perturbation of the pseudoinverse matrix in the next iteration. The resultant algorithm is tested on the simulation of an industrial robot manipulator. From the results obtained, it is observed that the proposed approach compares favorably with the approaches using a Gaussian elimination procedure and with pseudoinverse robustness based on a manipulability measure.<\/jats:p>","DOI":"10.1002\/rob.4620090507","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:12:47Z","timestamp":1183727567000},"page":"681-702","source":"Crossref","is-referenced-by-count":4,"title":["Procedure for manipulator inverse kinematics computation and proper pseudoinverse perturbation"],"prefix":"10.1002","volume":"9","author":[{"given":"R. V.","family":"Mayorga","sequence":"first","affiliation":[]},{"given":"A. K. 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