Geodesic trajectory planning and feedforward controller design for a reconfigurable manipulator

To rapidly design and construct a humanoid robot with various configurations with different kinematics and dynamics characteristics, the modular design concept is used in the development of reconfigurable manipulator for the full-size humanoid robot named Robo-Erectus Senior. In this paper, a geodes...

Ausführliche Beschreibung

Bibliographische Detailangaben

Hauptverfasser:	Liandong Zhang, Changjiu Zhou, Baro, M., Calderon, C.A.A., Delun Wang
Format:	Tagungsbericht
Sprache:	eng
Schlagworte:	Actuators Control systems Humanoid robots Intelligent control Intelligent robots Kinematics Manipulator dynamics PD control Service robots Trajectory
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