IEEE - Institute of Electrical and Electronics Engineers, Inc. - Cartesian control of redundant flexible-joint manipulators

Proceedings of 32nd IEEE Conference on Decision and Control

Author(s): Lin, Z.C. ; Patel, R.V.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: San Antonio, TX, USA
Conference Date: 15 December 1993
ISBN (Paper): 0-7803-1298-8
DOI: 10.1109/CDC.1993.325076
Regular:

In this paper, the issue of redundant flexible-joint manipulator control is addressed. A new control strategy called hybrid Cartesian-joint control is introduced which consists of a Cartesian... View More

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