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Dynamic model of robot manipulator in explicit form formulation with dual vectors and the notion of augmented body.
M. Baklouti
J. M. Castelain
Published in:
J. Field Robotics (1993)
Keyphrases
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dynamic model
robot manipulators
control scheme
control of robot manipulators
force control
inverse kinematics
experimental data
sliding mode control
controller design
end effector
pose estimation
human body
pid controller
sliding mode