For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and f...
— The Kuka Control Toolbox (KCT) is a collection of MATLAB functions for motion control of KUKA robot manipulators, developed to offer an intuitive and high-level programming int...
Francesco Chinello, Stefano Scheggi, Fabio Morbidi...
Abstract—This paper presents the analysis of motion of a redundant anthropomorphic arm during the writing. The modeling is based on the separation of the prescribed movement into...
—A novel approach toward construction of robots is based on a concentric combination of precurved elastic tubes. By rotation and extension of the tubes with respect to each other...
Pierre E. Dupont, Jesse Lock, Brandon Itkowitz, Ev...
The joint controllers used in robots like the Sony Aibo are designed for the task of moving the joints of the robot to a given position. However, they are not well suited to the pr...