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Unidrive Modular Robot: Dynamics, Control, and Experiments

Karbasi, Hamidreza, Auteur ; Khajepour, Amir, Auteur ; Huissoon, Jan Paul |

Dans Transactions of the ASME . Journal of dynamic systems, measurement, and control (Vol. 128 N°4, Decembre 2006)

In this paper, a control design methodology for the new class of modular robots so-called "unidrive modular robots" is introduced. Unidrive modular robots because of employing only a single drive for operating all the joints have a substantial a[...]

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