Published December 1, 1995
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Joint-space tracking of workspace trajectories in continuous time
- Creators
- Getz, Neil H.
- Marsden, Jerrold E.
Abstract
We present a controller for a class of robotics manipulators which provides exponential convergence to a desired end-effector trajectory using gains specified in joint-space. This is accomplished without appeal to the use of discrete inverse-kinematics algorithms, allowing the controller to be posed entirely in continuous time.
Additional Information
© 1995 IEEE. Reprinted with Permission. The authors are grateful to C.A. Desoer for his comments and advice.Files
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- Eprint ID
- 9602
- Resolver ID
- CaltechAUTHORS:GETieeecdc95b
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