대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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- Pages.994-997
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- 1988
다수의 자유도를 갖는 매니퓰레이터의 Cartesian 운동 제어
CARTESIAN MOTION CONTROL OF MANY DEGREE OF FREEDOM MANIPULATOR
- Park, Hyun-Woo (Kyung Hee University) ;
- Bae, Jun-Kyung (Kyung Hee University) ;
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Park, Chong-Kuk
(Kyung Hee University)
- 발행 : 1988.07.01
초록
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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