CARTESIAN MOTION CONTROL OF MANY DEGREE OF FREEDOM MANIPULATOR

다수의 자유도를 갖는 매니퓰레이터의 Cartesian 운동 제어

  • Published : 1988.07.01

Abstract

The basic concept of this control scheme is that of an ideal massless manipulator carrying a load. The purpose of this paper is to converge the observed forces and moments at the mass center to the desired applied forces and moments. And the corresponding control algorithm is proposed.

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