The Operational Space Formulation creates a framework for the analysis and control of manipulator systems with respect to the behavior of their end-effectors. Its application to ...
Rodrigo S. Jamisola, Marcelo H. Ang, Denny Oetomo,...
In this paper we consider the structural properties of the dynamics of robotic manipulation systems of a rather general class, including multiple cooperating, possibly whole-arm l...
Abstract— This paper deals with nonlinear dual mode adaptive control of a redundant manipulator for a pick-andplace scenario with high acceleration (20G). For performance compari...
Guilherme Sartori Natal, Ahmed Chemori, Fran&ccedi...
Abstract - This paper introduces new analyses and algorithms which are essential for the practical implementation of continuous backbone continuum robots. Actuator length limits st...