Abstract
The main problem in controlling a robot can be stated thus: with the AMS in any possible configuration (which means that the articulated variables, θi, have any realizable value), the end effector (ie its coordinate reference axes) must be placed at a point in space with a definite orientation, relative to a fixed coordinate set (Rf) related to the environment — the coordinate set (R0) related to the base of the robot is known relative to Rf.
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© 1983 Kogan Page Ltd
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Coiffet, P. (1983). Positional control of articulated robots. In: Modelling and Control. Robot Technology, vol 1. Springer, Boston, MA. https://doi.org/10.1007/978-1-4684-6846-5_5
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DOI: https://doi.org/10.1007/978-1-4684-6846-5_5
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4684-6848-9
Online ISBN: 978-1-4684-6846-5
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