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Modeling and Control of Robot Manipulators
Lorenzo Sciavicco,Bruno Siciliano +1 more
- 01 Nov 1995
1.2K
TL;DR: In this paper, the authors provide a guide to the foundations of robotics: modelling, mechanics and control, including kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.
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Abstract: This text, aimed at senior undergraduate/graduate courses in robotics, provides a guide to the foundations of robotics: modelling, mechanics and control. Fundamental aspects covered include kinematics, statics and dynamics of manipulators, and trajectory planning and motion control in free space.
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Citations
The dynamics of a single algebraic screw pair
TL;DR: The algebraic screw pair, or A-pair, represents a new class of kinematic constraint that exploits the self-motions inherent to a specific configuration of the Griffis-Duffy platform.
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Real-time learning of resolved velocity control on a Mitsubishi PA-10
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Neural Network Control for Robot Manipulator
Agata Nawrocka,Marcin Nawrocki,Andrzej Kot +2 more
- 01 May 2019
TL;DR: The basic issue discussed in the engineering work is to get acquainted with the structure and construction of neural networks and the principle of their operation.
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Stabilisation for teleoperation systems with sampled-data information feedback
TL;DR: By constructing a novel delay-dependent Lyapunov functional, the relationship is established among the control parameters, the delay bounds and the upper bounds of the sampling periods, and the tracking performance can be achieved with the designed controller.
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Motion tasks for robot manipulators on embedded 2-D manifolds under input constraints
Xanthi S. Papageorgiou,Herbert G. Tanner,Kostas J. Kyriakopoulos +2 more
- 02 Jul 2007
TL;DR: It is shown that the resulting closed loop system is uniformly asymptotically stable and the analytical development with computer simulations is verified.