Control of a Tendon Arm
The dynamics and control of tendon driven three degree of freedom shoulder joint are studied. A control scheme consisting of two phases has been developed. In the first phase, approximation of the time optimal control trajectory was applied open to the loop to the system. In the second phase a...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/6346 |