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Quasi-minimal computation of the dynamic model of a robot manipulator utilizing the newton-euler formalism and the notion of augmented body.
Marc Renaud
Published in:
ICRA (1987)
Keyphrases
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dynamic model
robot manipulators
control scheme
control of robot manipulators
force control
inverse kinematics
experimental data
end effector
sliding mode control
human body
sliding mode
differential equations
control law
shear stress
neural network
fuzzy controller
support vector