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Inverse Jacobian regulator for robot manipulator: theory and experiment.

Chien Chern CheahYu Zhao
Published in: CDC (2004)
Keyphrases
  • robot manipulators
  • control of robot manipulators
  • inverse kinematics
  • jacobian matrix
  • steady state
  • trajectory planning
  • force control
  • control scheme
  • closed loop
  • dynamic model
  • artificial neural networks