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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
PD-SVM Integrated Controller for Robotic Manipulator Tracking Control
Neha Kapoor,Jyoti Ohri +1 more
TL;DR: In this article, an integrated proportional derivative and support vector machine (SVMPD) controller has been proposed for manipulator tracking in presence of uncertainties like noise, disturbances, and friction.
Regularization-based output-trajectory preshaping of a high-speed flexible beam against ill-conditioned stable inversion
Guoli Wang,Heinz Unbehauen +1 more
TL;DR: In this paper, a regularization-based frequency shaping approach is used to preshape the reference output-trajectory so that the calculated torque through stable inversion is smooth enough without high-frequency saturation.
1
Globally asymptotic output feedback tracking of robot manipulators with actuator constraints
TL;DR: A new dynamic nonlinear filter is first proposed and then a saturated output feedback proportional-derivative control is constructed and Lyapunov’s direct method is employed to show global asymptotic stability (GAS).
1
Discrete-time sliding mode control of a direct-drive robot manipulator
G.M. van der Zalm,Dragan Kostic,B. de Jager +2 more
- 01 Jan 2004
TL;DR: The algorithm developed to ensure chattering-free discrete-time sliding mode control in finite time is adapted for the robot motion control problem, and it is used to design feedback controllers of a benchmark direct-drive robot.
Kinematics computation method study for a humanoid upper body system
Qingxuan Jia,Peichang Ye,Gang Chen,Hanxu Sun,Junjie Peng +4 more
- 09 Jun 2014
TL;DR: Based on the screw product exponentials formula and space Jacobi matrix, a general iterative algorithm on inverse kinematics is proposed for humanoid upper body system in this article, and the results of numerical simulations verify the correctness and effectiveness of the proposed algorithm.
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