We present a novel approach we call partitioning where the robot’s degreesof-freedom (D OF) are categorized into two classes based on joint kinematics and dynamics to design a coupled multi-input control system. We use image data to visually servo the first class of joints that have quick response time. Positionbased data is used to lcinematically servo the second class of joints that have larg...

DC motors have been widely used in the electromechanical systems due to its simple structure, ease of implementing variable speed control and low cost. In high accuracy servo control system, high control performance of DC motor is needed. DC motors have traditionally been modelled as IInd order linear system, which ignores the dead nonlinear zone of the motor. Unfortunately, the dead zone cause...