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It is always difficult to establish dynamics expressions via energy-work balance principle for multi-degree-of-freedom robot manipulators with mixed rigid/flexible joints. To solve such problem, a virtual decomposition control based trajectory tracking approach is proposed for robot manipulators with mixed joints. First, the robot manipulators with mixed joints is virtually decomposed into links and...
We consider the problem of perfect cancellation of gravity effects in the dynamics of robot manipulators having flexible transmissions at the joints. Based on the feedback equivalence principle, we aim at designing feedback control laws that let the system outputs behave as those of a desired model where gravity is absent. The cases of constant stiffness (elastic joints), nonlinear flexible, and variable...
In this paper we present a methodology to drive the end effector of a robotic manipulator across the surface of an object in the workspace. Three typical tasks are considered, namely stabilization of the end effector over the object's surface, motion planning and eventually trajectory tracking of the end effector across the object's surface. The proposed controllers utilize navigation functions and...
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