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- W1875774042 abstract "For pt.I see ibid., p.1374-9 (1988). Work on model-based control with the MIT Serial Link Direct Drive Arm is described. It is shown that model-based control leads to performance superior to control not based on carefully constructed models. Trajectory control, trajectory learning, and force control are treated. A new type of trajectory learning is considered in which a robot fine-tunes one particular trajectory through repetition. Various experiments with the direct drive arm are reported to validate the importance of model-based control. >" @default.
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- W1875774042 date "2003-01-06" @default.
- W1875774042 modified "2023-09-27" @default.
- W1875774042 title "Model-based control of a direct drive arm. II. Control" @default.
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- W1875774042 doi "https://doi.org/10.1109/robot.1988.12261" @default.
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