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- W2008889363 abstract "In the velocity field control approach the robot motions are specified through a vectorial function that assigns the desired velocity to each point of the configuration space. In other words, a velocity field defines the robot desired velocity in the operational space as a function of its current position. In this paper is introduced a new algorithm to solve the velocity field control formulation in the robot operational space. The proposed approach assumes only joint position measurements and is based on a hierarchical structure that results of using the kinematic control concept and a joint velocity controller. To estimate the joint velocity, nonlinear filtering of the joint position is used." @default.
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- W2008889363 date "2007-11-01" @default.
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- W2008889363 title "Velocity field control of robot manipulators by using only position measurements" @default.
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- W2008889363 doi "https://doi.org/10.1016/j.jfranklin.2007.05.006" @default.
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