Robust and Remote Center of Cyclic Motion Control for Redundant Robots with Partially Unknown Structure
Long Jin,Kun Liu,Mei Liu,Long Jin,Kun Liu,Mei Liu
Remote center of motion (RCM) describes a robot with a rod-like end-effector operating through a hole in the interface separating the internal space from the external space. Considering that the control of RCM may be influenced by perturbations (noises) and that the end-effector is frequently replaced to complete different tasks, the structural information related to the robot manipulator and its ...
