Trajectory and Force Control of a Direct Drive Arm
Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any controller, issues of estimating the dynamic model of a manipulator and its load...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/7344 |