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7 Concluding Remarks

  • R.V. Patel
  • F. Shadpey
Chapter
  • 1.4k Downloads
Part of the Lecture Notes in Control and Information Science book series (LNCIS, volume 316)

Abstract

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.

Keywords

Redundant Manipulator Compliant Motion Joint Flexibility Joint Acceleration Redundancy Resolution 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Authors and Affiliations

  • R.V. Patel
    • 1
  • F. Shadpey
    • 2
  1. 1.University of Western Ontario Department of Electrical & Computer Engineering 1151 Richmond Street North London, OntarioCanada N6A 5B9
  2. 2.Bombardier Inc. Canadair Division 1800 Marcel Laurin St. Laurent, QuebecCanada H4R 1K2

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