Open AccessBook
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
Generic trajectory generation for industrial manipulators
van Njm Niels Dijk
- 01 Jan 2006
Abstract: Disclaimer This document contains a student thesis (bachelor's or master's), as authored by a student at Eindhoven University of Technology. Student theses are made available in the TU/e repository upon obtaining the required degree. The grade received is not published on the document as presented in the repository. The required complexity or quality of research of student theses may vary by program, and the required minimum study period may vary in duration.
•Proceedings Article
Comparison of interaction forces of robot arm on Force-free Control and impedance control by model based simulations
Achala Pallegedara,Yoshitaka Matsuda,Naruto Egashira,Takenao Sugi,Satoru Goto +4 more
- 04 Oct 2012
TL;DR: In this paper, a comparison of force-free control and impedance control in cartesian space is carried out to find how to regulate and tune force free control for safe and feasible operation.
4
•Dissertation
Contribution à la modélisation non-linéaire et à la commande d'un actionneur robotique intégré pour la manipulation
Benoît Huard
- 07 Jun 2013
TL;DR: In this paper, the authors propose a methode based on a commande robuste par rapport aux non-linearites structurelles dues aux effets gravitationnels et aux frottements secs d'une part and a rigidites variables des objets manipules.
4
Adaptive task-space control of rigid-link robots with uncertain kinematics and dynamics and without acceleration measurements
Mahboubeh Ahmadipour,Alireza Khayatian,Maryam Dehghani +2 more
- 14 May 2013
TL;DR: In this article, an adaptive task-space controller for rigid-link robots with uncertain kinematics and dynamics is proposed, which uses the output of a predictive filter to avoid acceleration measurements in the dynamic parameter estimation.
4