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Computation of the inertial and gravitational coefficients of the dynamics equations for a robot manipulator with a load.
Alberto Izaguirre
Richard P. Paul
Published in:
ICRA (1985)
Keyphrases
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robot manipulators
dynamic model
control scheme
control of robot manipulators
inverse kinematics
experimental data
force control
trajectory planning
linear combination
tracking error
end effector
dynamical systems
angular velocity
robot arm
basis functions
mathematical model
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