7 Concluding Remarks
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As indicated in the Chapter 1, the objectives of this monograph were to present a unified framework for combining compliant motion control, redundancy resolution, and adaptive control in a single methodology and to demonstrate the the feasibility of the proposed scheme by computer simulations and experiments on REDIESTRO, a seven-dof experimental redundant manipulator. These objectives were achieved as follows.
KeywordsRedundant Manipulator Compliant Motion Joint Flexibility Joint Acceleration Redundancy Resolution
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