Adaptive Computed Torque Computed Reference Control of Flexible Joint Manipulators
نویسنده
چکیده
Manipulators are controlled to make their end-effector (Tool Centre Point) track a pre-specified trajectory in space. This goal is achieved if the actuators of the manipulator are activated appropriately. The controller, used to calculate these inputs, can have may different forms, each with its own (dis)advantages.
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