Nonlinear systems analysis (2nd ed.)
Nonlinear systems analysis (2nd ed.)
Path-based approach to integrated planning and control for robotic systems
Automatica (Journal of IFAC)
Robot Dynamics and Control
Modelling and Control of Robot Manipulators
Modelling and Control of Robot Manipulators
Control of Robot Manipulators
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Some robotic tasks usually achieved through motion control – trajectory tracking control – can be also well performed by resorting to “path control” philosophy. This is the case for applications where motion coordination among the robot joints is more important than joint tracking of a timed desired reference. This paper illustrates this concept by means of two academic case studies – theory and experiments – using a two degrees-of-freedom direct-drive revolute arm.