Citations
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Book
Robot Modeling and Control
TL;DR: In this paper, the Jacobian is used to describe the relationship between rigid motions and homogeneous transformations, and a linear algebraic approach is proposed for vision-based control of dynamical systems.
Journal ArticleDOI
Sensor-based control of robotic manipulators using a general learning algorithm
TL;DR: The results of two learning experiments using a General Electric P-5 manipulator are presented and control system performance was found to be limited by the resolution of the sensor feedback data, rather than by control structure limitations.
Book
Visual Control of Robots: High-Performance Visual Servoing
TL;DR: This book is about the application of high-speed machine vision for close-loop position control, or visual servoing, of a robot manipulator and provides a comprehensive coverage of all aspects of the visual Servoing problem: robotics, vision, control, technology and implementation issues.
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Real-time application of neural networks for sensor-based control of robots with vision
TL;DR: A practical neural network-based learning control system is described that is applicable to complex robotic systems involving multiple feedback sensors and multiple command variables.
Journal ArticleDOI
Closed-loop manipulator control using quaternion feedback
TL;DR: Euler parameters, a form of normalized quaternions, are used to model the hand-orientation errors in resolved-rate and resolved-acceleration control of manipulators to simplify the stability analysis of the orientation error dynamics.
References
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Journal ArticleDOI
A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
J. Denavit,R. S. Hartenberg +1 more
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A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
TL;DR: Cerebellar Model Articulation Controller is a neural network that models the structure and function of the part of the brain known as the cerebellum that exhibits properties such as generalization, learning interference, discrimination, and forgetting that are characteristic of motor learning in biological creatures.
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On-Line Computational Scheme for Mechanical Manipulators
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Resolved Motion Rate Control of Manipulators and Human Prostheses
TL;DR: The kinematics of remote manipulators and human prostheses is analyzed and suggests solutions to problems of coordination, motion under task constraints, and appreciation of forces encountered by the controlled hand.
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Resolved-acceleration control of mechanical manipulators
TL;DR: In this article, the authors present a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls, which deals directly with the position and orientation of the hand.