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Dual Mode Control for the Robot with Redundant Degree of Freedom
Yasuchika MORI,Shin NYUDO 대한전자공학회 1992 대한전자공학회 학술대회 Vol.1992 No.10
This paper deals with a dual mode control system design for the starching work robot. From the feature of this work, the robot has redundant degree of freedom. In this paper, we try to split the whole movement of the robot into a gross motion part at a fine motion part so as to achieve a good tracking performance. The preview learning control is applied to the gross motion part. The validity of the dual mode control architecture is demonstrated.