Learning Nonlinear Multi-Variate Motion Dynamics for Real- Time Position and Orientation Control of Robotic Manipulators
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A global approach to the problem of model-based control of fast parallel robots is proposed in this work. Fundamental differences between the well-known serial arms and parallel manipulators are first explained. A formalism inspired from Denavit-Hartenberg ...
The main objective of this thesis is the accuracy improvement of parallel robots. Accuracy can be improved either by precise manufacturing and assembly or by calibration of each individual robot using a kinematic model which takes geometric deviations into ...
