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Advanced Strategies for Robot Manipulators

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Advanced Strategies for Robot Manipulators

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In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range mechanical manipulators comprising flexible link, flexible joint and mobile manipulators considered. Then, open-loop optimal control problem is formulated to control of obtained system. Finally, some applications of method including motion planning maximum payload determination are illustrated through the computer simulations.

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