Fig. 1 Architecture of the proposed methods.
Fig. 2 Degree of freedoms of the robot
Fig. 3 Photograph of the robot.
Fig. 4 Experimental setup.
Fig. 5 Block diagram of motion control.
Fig. 6 Change of the fitness function
Fig. 7 Comparison of torque ratio for Exp. 1
Fig. 8 Comparison of torque ratio for Exp. 2
Table 1. Objective functions.
Table 2. Specifications of the robot
Table 3. Comparison of optimized results between Exp. 1 and Exp. 2표 18
References
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