Application of Half-Derivative Damping to Cartesian Space Position Control of a SCARA-like Manipulator
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DOI: 10.3390/robotics11060152
Abstract: In classical Cartesian space position control, KD, the end-effector follows the set-point trajectory with a stiffness expressed in the directions of the external coordinates through the stiffness matrix, K, and with a damping proportional to… read more here.
Keywords: space position; cartesian space; control; position control ... See more keywords