Experimental Validation of an Adaptive Controller for Manipulators on a Dynamic Platform
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DOI: 10.1017/s0263574720000600
Abstract: SUMMARY This paper reports on laboratory and field experimental results for controlled robotic manipulators operating on moving platforms with unmodeled dynamics. The aim is to validate theoretical predictions for the dependence on control parameters of… read more here.
Keywords: validation adaptive; controller manipulators; adaptive controller; experimental validation ... See more keywords
Inverse Kinematics of Redundant Manipulators With Dynamic Bounds on Joint Movements
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2020.3013879
Abstract: Redundant manipulators are usually required to perform tasks in the operational space, but collision-free path planning is computed in the configuration space. Limiting the deviation with respect to the collision-free configuration-space trajectory may allow the… read more here.
Keywords: manipulators dynamic; redundant manipulators; kinematics redundant; inverse kinematics ... See more keywords