Abstract
A nonlinear controller for rigid manipulators is proposed in this paper. The controller is based on equations of motion arising from decomposition of the manipulator mass matrix and contains a vector of generalized velocity components (GVC). It is shown that dynamics description in terms of the GVC gives an further insight into the system dynamics which is also available if the presented controller is used. The theoretical considerations are illustrated by simulation on a 3 d.o.f. spatial manipulator.
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