Moore-Penrose pseudoinverse and its applications in robotics

Primjena robotske ruke opisana je uvodenjem Moore-Penroseovog pseudoinverza. Opisan je matrični zapis linearnih operatora te problem inverza matrice i pronalaska pseudoinverza kao rješenje tog problema. Dekompozicija na singularne vrijednosti se koristi za računanje Moore- Penroseovog pseudoinverza matrice.Use of the robotic arm is described with introduction of the Moore-Penrose pseudoinverse. A matrix notation of linear map is defined. Solution to the problem of existance of matrix inverses is solved with use of the pseudoinverse. Singular value decomposition is used to compute the Moore-Penrose pseudoinverse of the matrix