Abstract
The trajectory motion control problem for multi-link dexterous robots is analyzed on the basis of the Coordinating Control Principle. In addition to the trajectory description introducing the conventional coordinating relations of the endpoint coordinates, auxiliary holonomic relations of the robot variables are involved to define the configuration of the robot kinematic chain and overcome the problem redundancy. The resultant system is designed on the basis of standard nonlinear control techniques and includes a nonlinear converter and a set of linear controllers providing the execution of the local stabilization tasks.
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