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On-line computer control with high speed and accuracy is needed in industrial robotics. Thus, discrete-time controller design for robotic manipulators is necessary. In this article, the two continuous-time model reference adaptive control schemes presented in Yang and Woo (1992) are put forth in...
This article presents a survey of the existing computational algorithms meant for achieving four important properties in autonomous multifingered robotic hands. The four properties are: dexterity, equilibrium, stability, and dynamic behavior The multifingered robotic hands must be controlled so...
This article describes the significance in human, scientific, and technical terms of the first experiment in telerobotic surgery carried out between the NASA Jet Propulsion Laboratory in Pasadena, California, and the Telerobotics Laboratory of the Politecnico di Milano on 7 July 1993. An Italian...
In this article, to derive a dynamic model of a flexible manip ulator, a modeling scheme using virtual rigid links and passive jnints is proposed. Each link is modeled individually, and by connecting models of links, a model of the whole flexible arm is obtained. Parameters of the model of each...
This article presents a novel algorithm for efficiently computing an interference-free insertion path of a body into a cavity and shows its practical use in the insertability analysis of custom orthopedic hip implants. The algorithm is designed to handle tightly fit, very complex...
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