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Applications of Neural Networks to Robotics
A Unified Approach to Kinematic Modeling Identification
Nonlinear Control Algorithms in Robotic Systems
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acceleration algorithm applied coefficients collision penalty collision-free computation configuration constraints contact points convergence cooperating robot arms coordinate frame curve data fusion defined denote derivatives determined dynamic control dynamic equations dynamic programming end effector error model example feedback linearized force field force/torque frequency given grasp grid identified IEEE input interaction force inverse dynamics inverse kinematics Jacobian joint space kinematic model Lag-lead compensator Liapunov function linear mapping matrix maximum measurement method minimum motion space analysis neural network nonlinear feedback object obstacles obtained optimal trajectory parametrically continuous path planning phase plane positioning errors probe robot calibration robot control robot end effector robot kinematics Robot Manipulators robot motion planner robot motion planning robot motion trajectory robotic systems Robotics and Automation sensor shown in Figure simulated annealing simulation solution structure surface techniques torque trajectory planning transformation vector velocity workspace analysis zero