| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 860689 | Procedia Engineering | 2012 | 9 Pages |
Abstract
The paper deals with manipulator end-effector position control. At first the problem of inverse kinematics is introduced. The dynamic model of manipulator by Euler – Lagrange method is derived. In order to achieve required end-effector position the feedback control method is introduced for non-linear differential equations system. In the conclusion all mentioned methods are demonstrated on 2 DOF planar manipulator.
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