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Torque optimizing control with singularity-robustness for redundant manipulators and its application : 여유자유도 로봇을 위한 특이점 강인성을 갖는 최적토크제어 및 응용
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- Authors
- Advisor
- 이범희
- Issue Date
- 2000
- Publisher
- 서울대학교 대학원
- Keywords
- Redundant Manipulator ; 여유자유도 로봇 ; Torque-Optimality ; 최적토크제어 ; Singularity-Robustness ; 영공간 관절속도 ; Generalized Null-Space Damping Method ; 특이점 강인성 ; Inverted Pendulum ; 역진자 제어
- Description
- Thesis (doctoral)--서울대학교 대학원 :전기공학부,2000.
- Language
- English
- URI
- http://dcollection.snu.ac.kr:80/jsp/common/DcLoOrgPer.jsp?sItemId=000000070529
https://hdl.handle.net/10371/30870
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