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Published December 1, 1995 | public
Book Section - Chapter Open

Joint-space tracking of workspace trajectories in continuous time

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.

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