Natural motion for robot arms

@article{Koditschek1984NaturalMF,
  title={Natural motion for robot arms},
  author={Dan Koditschek},
  journal={The 23rd IEEE Conference on Decision and Control},
  year={1984},
  pages={733-735}
}
  • Dan Koditschek
  • Published 1984 in The 23rd IEEE Conference on Decision and Control
This paper describes some initial steps toward the development of more natural control strategies for free motion of robot arms. The standard lumped parameter dynamical model of an open kinematic chain is shown to be stabilizable by linear feedback, after nonlinear gravitational terms have been cancelled. A new control algorithm is proposed and is shown to drive robot joint positions and velocites asymptotically toward arbitrary time-varying reference trajectories. 
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