Abstract
Though industrial manipulators still use the PD control and its variants, its now clear that this control strategy is not the best available. Unfortunately, the closed architecture of industrial manipulators keeps the users from achieving tasks more efficiently. This paper deals with obtaining the full dynamics of a three degree-of-freedom, anthropomorphic industrial manipulator (PUMA 200, whose big brother 560 has been widely subject to numerous experiments, analysis and research, globally), opening its architecture and applying several regulation algorithms on fixed-position regulation tasks.
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