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Contribution to robots control with parallel degrees of freedom
Published online by Cambridge University Press: 09 March 2009
Summary
This paper considers some problems concerning the motion and the control of large robots. The problem arises when highly nonuniform motion is required. It results in too strong dynamic loads and the robot cannot operate successfully. The solution is found in the introduction of redundancy in the form of parallel degrees of freedom. Kinematics of such a system follows the distributed positioning concept. The control scheme is developed for a one-dimensional redundant robot.
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- Copyright © Cambridge University Press 1994