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This paper proposes path planning and motion control for a 3 DOF massage robot. The trajectory planning and implementation is achieved through the feedback of position coordinates of end effector thereby controlling the motion of the robot along X and Z axis. A new and compact design consisting of magnetic proximity sensors and magnets was proposed for the end effector design to detect the subject...
This paper presents the kinematic analysis of a new 6-DOF haptic interface and control system analysis for the tele-operation of 6-DOF serial robot. The haptic interface consists of two 3-DOF parallel structures connected with a steering handle. The design satisfies requirements of low mass moment of inertia, quick motion, big rotation, and large applied torques. Kinematics for position and differential...
Traditional robot controllers are not designed to produce human-like reactive motion - movements lasting tens of sample periods and requiring large accelerations. One of the major obstacles to producing reactive motions with contemporary controllers is that they rely on kinematic commands. The performance of short duration motions requiring large accelerations is dominated by the motion's dynamics;...
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