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Communication Dans Un Congrès Année : 2021

Kinematic Control of compliant serial manipulators composed of dual-triangles

Résumé

The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the stability of the manipulator configurations with respect to the external forces/torques applied to the endeffector. The efficiency of the developed control algorisms is confirmed by simulation.
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Dates et versions

hal-03145096 , version 1 (18-02-2021)

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Citer

Wanda Zhao, Anatol Pashkevich, Alexandr Klimchik, Damien Chablat. Kinematic Control of compliant serial manipulators composed of dual-triangles. ICCCR 2021 : International Conference on Computer, Control and Robotics, Jan 2021, Shanghai, China. pp.93-97, ⟨10.1109/ICCCR49711.2021.9349285⟩. ⟨hal-03145096⟩
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