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work-space

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Work-space robot controllers
C. Vibet
Journal:

Robotica / Volume 5 / Issue 3 / July 1987

Published online by Cambridge University Press:

09 March 2009, pp. 247-250
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In regard to work-space controller design, a derivation of the relationships between the operational approach and the decoupling method is introduced. The given generating rules, which are valid for nonredundant robots, permit the design of a Position-Speed-Acceleration controller or hybrid Force-PSA controllers.