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Robotic tasks using path control: Two case studies
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DOI：10.1023/A:1020275904724.png)
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摘要
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Some robotic tasks usually achieved through motion control - trajectory tracking control - can be also well performed by resorting to path control philosophy. This is the case for applications where motion coordination among the robot joints is more important than joint tracking of a timed desired reference. This paper illustrates this concept by means of two academic case studies - theory and experiments - using a two degrees-of-freedom direct-drive revolute arm.
Keyword:
motion control
path control
LaSalle's invariance principle
direct-drive robot
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