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Automatic Planning and Control of Robot Natural Motion Via Feedback

  • Daniel E. Koditschek

Abstract

A feedback control strategy for the command of robot motion includes some limited automatic planning capabilities. These may be seen as sequential solution algorithms implemented by the robot arm interpreted as a mechanical analog computer. This perspective lends additional insight into the manner in which such control techniques may fail, and motivates a fresh look at requisite sensory capabilities.

Keywords

Target Space Reference Trajectory Revolute Joint Task Space Rigid Body Model 
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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Copyright information

© Springer Science+Business Media New York 1986

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  • Daniel E. Koditschek

There are no affiliations available

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