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The work presented here is a controller design methodology for robot manipulators based on the input-output functional relationships [26] in the dynamic behavior of the robot manipulator and environment. This controller guarantees: 1) the robot end-point follows an input command vector "closely" when the robot is not constrained by the environment, and 2) the contact force is a function...
The design, construction and control of a wide bandwidth, active end-effector which can be attached to the end-point of a commercial robot manipulator is presented here. Electronic compliancy [Impedance Control] [11] has been developed on this device. The end-effector behaves dynamically as a two-dimensional, Remote Center Compliance [RCC]. The compliancy in this active end-effector is developed electronically...
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