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The present paper proposes the learning control method for the throwing manipulation which can control not only the position but also the orientation of the polygonal object more accurately and robustly by low-degree-of-freedom robotic arm. We show experimentally the validity of the proposed control method with the one-degree-freedom robotic arm. We also demonstrate the usefulness of the throwing...
Kinematics based trajectory planning for parallel manipulators has been studied extensively, e.g., to determine a singularity-free path. Dynamics based trajectory planning, however, gains little concern. In order to fully exploit capacity of parallel robots, it is inevitable to conduct motion planning considering both kinematic and dynamic constraints. In this paper, three dynamics based trajectory...
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