The Comparative Assessment of Modelling and Control of Mechanical Manipulator
نویسندگان
چکیده
1.1 Overview In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range of mechanical manipulators comprising flexible link, flexible joint and mobile manipulators are considered. Then, open-loop optimal control problem is formulated to control of the obtained system. Finally, some applications of method including motion planning and maximum payload determination are illustrated through the computer simulations.
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