A new dynamic formulation for robot manipulators containing closed kinematic chains.

Xiang-Rong Xu Won-Jee Chung Young-Hyu Choi Xiang-Feng Ma

Published in: Robotica (1999)

Keyphrases

robot manipulators
inverse kinematics
end effector
control scheme
control of robot manipulators
dynamic model
trajectory planning
decision making
pattern recognition
closed loop
degrees of freedom
pid controller
sliding mode control