Natural motion for robot arms

  title={Natural motion for robot arms},
  author={Dan Koditschek},
  journal={The 23rd IEEE Conference on Decision and Control},
  • 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. 
Highly Cited
This paper has 105 citations. REVIEW CITATIONS

From This Paper

Topics from this paper.


Publications citing this paper.
Showing 1-10 of 72 extracted citations

A Family of Hyperbolic and Exponential – Type Controllers

Francisco Terneus, Fernando Reyes, Eduardo Lebano
View 6 Excerpts
Highly Influenced

Control of a Space Manipulator Capturing a Rotating Object in the Three-dimensional Space

2018 15th International Conference on Ubiquitous Robots (UR) • 2018
View 1 Excerpt

106 Citations

Citations per Year
Semantic Scholar estimates that this publication has 106 citations based on the available data.

See our FAQ for additional information.

Similar Papers

Loading similar papers…