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Design of robot controllers

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The decoupling method is applied to the design of position-speed-acceleration and force/position-speed-acceleration robot controllers. For this purpose, the Cartesian approach and the decoupling method are used to derive the generating rules of the control laws to be implemented in these systems. In this paper, only the case of non-redundant robots is considered.
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Document Type: Research Article

Affiliations: Université Paris X, IUT-Evry, France

Publication date: 01 January 1987

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