## Abstract

A compact formulation which is more efficient than the traditional pseudoinverse formulation for obtaining the general solution for the force balance equations has been presented in [1]. With hard point contacts considered, the force balance equations can be decomposed into two sets of rank 3, smaller linear equations if proper coordinate frames of the reference member and at the contact points are chosen. This decomposition, together with the compact formulation, can reduce the steps of the Gaussian elimination process, increase parallelism of the algorithm, and therefore, keep the computation time for obtaining the general solution for the force balance equations to a minimum.

Original language | English |
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Pages | 1896-1901 |

Number of pages | 6 |

Publication status | Published - 1996 Dec 1 |

Event | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) - Taipei, Taiwan Duration: 1996 Aug 5 → 1996 Aug 10 |

### Other

Other | Proceedings of the 1996 IEEE 22nd International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 3 (of 3) |
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City | Taipei, Taiwan |

Period | 96-08-05 → 96-08-10 |

## All Science Journal Classification (ASJC) codes

- Control and Systems Engineering
- Electrical and Electronic Engineering