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Approximate Jacobian control with task-space damping for robot manipulators

โœ Scribed by Cheah, C.C.; Hirano, M.; Kawamura, S.; Arimoto, S.

Book ID
115470279
Publisher
IEEE
Year
2004
Tongue
English
Weight
266 KB
Volume
49
Category
Article
ISSN
0018-9286

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Pseudo-inverse Jacobian control with gre
Pseudo-inverse Jacobian control with grey relational analysis for robot manipulators mounted on oscillatory bases
โœ J. Lin; C.C. Lin; H.-S. Lo ๐Ÿ“‚ Article ๐Ÿ“… 2009 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 687 KB

Interest in complex robotic systems is growing in new application areas. An example of such a robotic system is a dexterous manipulator mounted on an oscillatory base. In literature, such systems are known as macro/micro systems. This work proposes pseudo-inverse Jacobian feedback control laws and a