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The problems of trajectory tracking control of space rigid flexible manipulator are discussed in this paper. The equation of nonlinear dynamic of two-link rigid flexible manipulator is established. By using the nonlinear decoupling feedback control method based on the model, the variables of joint angle and elastic deformation are partly decoupled. By use of the inverse dynamic method of manipulator,...
Kinodynamic planning algorithms have the potential to find feasible control trajectories which accomplish a task even in very nonlinear or constrained dynamical systems. Underactuation represents a particular form of a dynamic constraint, inherently present in many machines of interest (e.g., walking robots), and necessitates planning for long-term control solutions. A major limitation in motion planning...
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