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2.
E
L
E
C
T
RIC
AL
L
YDR
I
VE
N
F
L
E
X
I
B
L
E
J
O
I
NT
M
ANIPU
L
AT
O
RM
O
DE
L
T
h
e
d
y
n
a
m
ic
s
o
f
a
s
in
g
le
fl
e
x
i
b
le
jo
in
t
m
an
ip
u
lato
r
ca
n
b
e
d
escr
ib
ed
b
y
th
e
f
o
llo
w
in
g
eq
u
atio
n
s
(
1
3
;
1
4
; 1
5
;
1
6
)
:
(
1
)
(
2
)
(
3
)
(
4
)
W
h
er
e
x
1
=q
is
t
h
e
li
n
k
p
o
s
itio
n
,
x
2
=
˙
q
is
t
h
e
li
n
k
s
p
ee
d
,
x
3
=Θ
i
s
th
e
m
o
to
r
p
o
s
itio
n
,
x
4
=˙
Θ
is
th
e
m
o
to
r
s
p
ee
d
,
m
1
i
s
th
e
l
in
k
m
as
s
,
g
i
s
th
e
g
r
av
i
t
y
,
l1
is
th
e
li
n
k
le
n
g
th
,
J
1
is
t
h
e
li
n
k
i
n
er
tia,
J
m
i
s
th
e
m
o
to
r
in
er
tia,
K
is
th
e
j
o
in
t
s
tiff
n
e
s
s
,
Γ
is
t
h
e
to
r
q
u
e
ap
p
lied
to
th
e
ax
e,
Γ
d
is
th
e
ex
ter
n
al
to
r
q
u
e,
N
is
th
e
r
ed
u
ctio
n
r
ep
o
r
t,
η
is
th
e
e
f
fi
cie
n
c
y
o
f
t
h
e
g
ea
r
b
o
x
.
T
h
e
m
o
d
el
of
t
h
e
flex
ib
le
ar
ticu
latio
n
is
co
m
p
o
s
ed
of
an
en
g
in
e
to
r
q
u
e
co
n
tr
o
l
d
r
i
v
i
n
g
a
lo
ad
th
r
o
u
g
h
a
tr
an
s
m
is
s
io
n
box
s
i
m
ilar
to
a
to
r
s
io
n
s
p
r
in
g
of
lin
ea
r
ch
ar
ac
ter
is
t
ic.
I
n
f
ac
t,
m
o
s
t
of
m
ec
h
a
n
ic
s
y
s
te
m
ar
e
n
o
t
p
er
f
ec
tl
y
r
ig
id
an
d
w
e
s
h
o
u
ld
tak
e
flex
ib
ili
t
y
in
to
co
n
s
id
er
atio
n
in
t
h
e
d
y
n
a
m
ic
m
o
d
el
o
f
th
e
r
o
b
o
t
to
b
e
m
o
r
e
n
ea
r
to
th
e
r
ea
lit
y
an
d
an
al
y
ze
a
m
o
r
e
p
r
ec
is
e
co
n
tr
o
ller
.
I
n
o
u
r
ca
s
e,
th
e
fl
ex
ib
ilit
ies
ar
e
lo
ca
ted
at
t
h
e
j
o
in
ts
an
d
as
in
m
o
s
t
o
f
th
e
ti
m
e,
w
e
ad
d
s
p
r
i
n
g
s
i
n
s
er
ies
w
it
h
th
e
tr
an
s
m
is
s
io
n
s
u
ch
as
s
h
o
w
n
in
th
e
fig
u
r
e
1
.
Fig
u
r
e
1
.
Flex
ib
le
j
o
in
t
m
a
n
ip
u
lato
r
2
.
1
.
Act
ua
t
o
r
M
o
del
T
h
e
B
r
u
s
h
les
s
Dir
ec
t
C
u
r
r
en
t
Mo
to
r
B
DC
M
is
a
th
r
ee
p
h
ase
s
y
n
ch
r
o
n
o
u
s
m
o
to
r
.
Usi
n
g
t
h
e
in
v
er
ter
,
w
e
w
i
ll s
u
p
p
l
y
th
e
t
h
r
ee
m
o
to
r
co
ils
s
u
c
h
as s
h
o
w
n
in
t
h
e
F
i
g
u
r
e
2
.
Fig
u
r
e
2
.
I
n
v
er
ter
B
r
u
s
h
less
D
C
Mo
to
r
(
B
DC
M)
ass
o
ciatio
n
T
h
e
elec
tr
ical
eq
u
atio
n
o
f
b
r
u
s
h
les
s
DC
m
o
to
r
p
er
p
h
ase
is
w
r
itten
as
f
o
llo
w
s
(
1
7
)
:
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
2
,
J
u
n
e
2
0
1
5
:
1
5
6
–
16
3
158
(
5
)
T
h
en
,
th
e
m
ec
h
an
ica
l b
r
u
s
h
le
s
s
DC
m
o
to
r
eq
u
atio
n
is
ex
p
r
es
s
ed
b
y
t
h
e
f
o
llo
w
i
n
g
ex
p
r
ess
io
n
:
(
6
)
w
h
er
e:
a.
E
is
th
e
elec
tr
o
m
o
ti
v
e
f
o
r
ce
(
em
f
)
,
b.
I
is
th
e
cu
r
r
en
t in
t
h
e
p
h
a
s
es o
f
m
o
to
r
,
c.
C
e
m
a
n
d
C
m
ar
e
th
e
E
lectr
o
m
ag
n
et
ic
an
d
lo
ad
to
r
q
u
es o
f
th
e
m
o
to
r
r
esp
ec
tiv
el
y
,
d.
f
r
ep
r
esen
ts
t
h
e
f
r
ictio
n
,
e.
J
m
i
s
th
e
i
n
er
tia
o
f
t
h
e
m
o
to
r
,
f.
Ω
m
is
t
h
e
v
e
lo
cit
y
o
f
t
h
e
m
o
to
r
,
g.
V
is
th
e
te
n
s
io
n
in
t
h
e
p
h
a
s
es
o
f
th
e
m
o
to
r
,
h.
L
is
t
h
e
i
n
d
u
cta
n
ce
o
f
t
h
e
m
o
t
o
r
,
i.
R
is
t
h
e
r
esis
ta
n
ce
o
f
t
h
e
m
o
to
r
,
j.
KE
an
d
Kt
ar
e
co
n
s
tan
ts
.
k.
W
ith
:
E
=
KE
Ω
m
an
d
C
e
m
=
KtI
.
Fig
u
r
e
3
.
Flex
ib
le
J
o
in
t M
an
ip
u
lato
r
C
o
n
tr
o
l Str
ate
g
y
3.
CO
NT
RO
L
ST
RAT
E
G
Y
T
h
e
co
n
tr
o
l
s
tr
ateg
y
i
m
p
le
m
e
n
ted
in
t
h
e
fl
e
x
ib
le
j
o
in
t
m
an
ip
u
lato
r
d
r
iv
en
b
y
B
DC
M
i
s
g
iv
e
n
b
y
Fig
u
r
e
3
:
T
h
e
o
b
j
ec
tiv
e
is
to
d
esig
n
a
b
ac
k
s
tep
p
in
g
co
n
tr
o
ller
to
r
em
ain
t
h
e
s
y
s
te
m
b
eh
a
v
io
u
r
to
th
e
d
esire
d
tr
aj
ec
to
r
ies,
d
esp
ite
th
e
p
r
esen
ce
o
f
u
n
ce
r
tai
n
tie
s
an
d
d
is
t
u
r
b
an
ce
s
.
T
ab
le
1
.
Dif
f
er
en
t
C
o
m
b
i
n
atio
n
o
f
t
h
e
States
o
f
th
e
S
w
itc
h
es
o
f
a
C
o
n
v
en
t
io
n
al
I
n
ter
v
er
A
s
s
o
ciate
d
w
it
h
a
B
DC
M
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
B
a
ck
s
tep
p
in
g
C
o
n
tr
o
ller
fo
r
E
lectrica
lly
Dri
ve
n
F
lexib
le
Jo
i
n
t Ma
n
ip
u
la
to
r
Un
d
er
…
(
Lil
ia
Zo
u
a
r
i)
159
3
.
1
.
H
y
s
t
er
esis
Co
ntr
o
ller
T
h
e
to
p
o
lo
g
y
of
th
e
in
v
er
ter
is
g
iv
e
n
by
F
ig
u
r
e
6
.
E
ac
h
b
r
an
ch
of
th
e
in
v
er
ter
i
n
cl
u
d
es
t
w
o
I
GB
T
s
an
d
d
io
d
es
co
n
n
ec
ted
o
n
an
ti
-
p
ar
allel
w
it
h
th
e
m
(
1
8
)
.
Mo
r
e
o
v
er
,
ea
ch
s
eq
u
en
ce
o
f
th
e
co
n
tr
o
l
s
ig
n
als
o
f
t
h
e
th
e
I
GB
T
s
S1
−6
th
r
o
u
g
h
o
u
t a
p
er
io
d
is
d
iv
id
ed
in
to
ac
tiv
e
s
u
b
-
s
eq
u
e
n
ce
an
d
r
eg
e
n
er
ativ
e
s
u
b
-
s
eq
u
e
n
ce
(
1
8
)
.
A
s
u
m
m
ar
y
o
f
t
h
e
s
ta
tes
o
f
t
h
e
s
w
itc
h
es
(
I
GB
T
s
an
d
d
io
d
es)
in
t
h
e
d
i
f
f
er
en
t
s
u
b
-
s
eq
u
e
n
c
es
(
m
o
to
r
an
d
g
en
er
ato
r
s
)
is
g
i
v
en
i
n
t
h
e
tab
le
1
.
T
h
e
o
u
tp
u
ts
o
f
t
h
e
h
y
s
ter
esi
s
co
n
tr
o
ller
d
eter
m
i
n
e
th
e
co
n
tr
o
l
s
ig
n
als
f
o
r
t
h
e
I
GB
T
s
.
I
n
d
ee
d
,
th
e
p
r
in
cip
le
o
f
th
e
h
y
s
ter
esi
s
co
n
tr
o
l
is
to
m
a
in
ta
in
t
h
e
m
ea
s
u
r
ed
cu
r
r
en
t
w
ith
in
a
b
an
d
o
f
ce
n
ter
ed
g
i
v
en
w
id
t
h
ar
o
u
n
d
th
e
r
ef
er
e
n
ce
cu
r
r
en
t I
r
ef
.
3
.
2
.
B
a
ck
s
t
epp
ing
Co
ntr
o
ller
T
h
e
b
ac
k
s
tep
p
in
g
ap
p
r
o
ac
h
i
s
a
r
ec
u
r
s
iv
e
d
esig
n
m
et
h
o
d
o
lo
g
y
.
I
t
i
n
v
o
lv
e
s
a
s
y
s
te
m
at
ic
co
n
s
tr
u
ctio
n
o
f
b
o
th
f
ee
d
b
ac
k
co
n
tr
o
l
la
ws
an
d
ass
o
ciate
d
L
y
ap
u
n
o
v
f
u
n
ctio
n
s
.
T
h
e
co
n
tr
o
ller
d
esig
n
is
co
m
p
leted
in
a
n
u
m
b
er
o
f
s
tep
s
,
w
h
ic
h
i
s
n
e
v
er
h
i
g
h
er
th
a
n
t
h
e
s
y
s
te
m
o
r
d
er
(
n
)
(
1
6
;
1
9
)
.
T
h
e
s
y
s
te
m
d
escr
ib
ed
b
y
th
e
eq
u
atio
n
s
4
ca
n
b
e
r
ep
r
esen
ted
b
y
t
h
e
f
o
llo
w
i
n
g
g
e
n
er
alize
d
ex
p
r
ess
io
n
:
(
7
)
(
8
)
w
h
er
e,
f
i(
)
=
,
g
i(
)
=
,
1
i
n
−1
an
d
u
is
t
h
e
co
n
tr
o
l la
w
.
Fo
r
ea
ch
s
tep
(
i)
,
w
e
co
n
s
id
er
x
i+1
as a
v
ir
t
u
al
co
n
tr
o
l i
n
p
u
t
w
h
ic
h
is
e
x
p
r
ess
ed
as f
o
llo
w
s
:
(
9
)
(
1
0
)
T
h
e
L
y
ap
u
n
o
v
f
u
n
ctio
n
i
s
ch
o
s
en
to
g
u
ar
an
tee
t
h
e
as
y
m
p
to
ticall
y
s
tab
ilit
y
o
f
th
e
s
y
s
te
m
f
o
r
(
x
1
,
.
.
.
,
x
i)
=
(
0
,
.
.
.
,
0
)
.
(
1
1
)
W
e
ch
o
o
s
e
also
u
i a
s
f
o
llo
w
s
:
(
1
2
)
w
h
er
e,
1
l
(
i−1
)
; k
i >
.
So
,
th
e
v
ir
t
u
al
co
n
tr
o
l in
p
u
t is
ex
p
r
ess
ed
as f
o
llo
w
s
:
(
1
3
)
A
t t
h
e
fin
al
s
ta
g
e,
w
e
ca
n
d
ete
r
m
in
e
t
h
e
ac
t
u
al
co
n
tr
o
l la
w
u
n
=
φ
n
as f
o
llo
w
s
:
(
1
4
)
W
h
er
e,
1
l
n
−1
an
d
k
n
>
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
2
,
J
u
n
e
2
0
1
5
:
1
5
6
–
16
3
160
T
h
e
b
ac
k
s
tep
p
in
g
co
n
tr
o
ller
is
d
eter
m
i
n
ed
b
y
ca
lcu
lati
n
g
th
e
to
r
q
u
e
u
=
Γ.
So
,
th
e
s
tates
x
1
,
x
2
,
x
3
,
x
4
ar
e
co
n
tr
o
lled
to
o
r
ig
in
p
o
in
t (
0
,
0
,
0
,
0
)
,
w
it
h
th
e
f
o
llo
w
i
n
g
f
o
u
r
s
tep
s
(
1
6
)
.
3
.
2
.
1
.
Ste
p1
T
h
e
fi
r
s
t s
u
b
s
y
s
te
m
o
f
4
is
:
(
1
5
)
W
h
er
e,
T
h
e
ca
n
d
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
B
a
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E
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lexib
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Jo
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Un
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161
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4.
SIMUL
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SU
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4
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1
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Descript
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Si
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
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N
:
2
0
8
9
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4856
IJ
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Vo
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4
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No
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2
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2
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1
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5
6
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16
3
162
Fig
u
r
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4
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Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
B
a
ck
s
tep
p
in
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C
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tr
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E
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lly
Dri
ve
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F
lexib
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Jo
i
n
t Ma
n
ip
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la
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r
Un
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…
(
Lil
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Zo
u
a
r
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163
5.
C
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tech
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m
p
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th
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co
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l
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ie
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en
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h
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co
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l s
tr
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.
RE
F
E
R
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NC
E
S
[
1
]
.
Stev
e
Ulr
ic
h
an
d
J
u
r
ek
Z
.
Sas
iad
ek
,
“
M
eth
o
d
s
o
f
Tr
a
jecto
r
y
Tr
a
ck
in
g
fo
r
F
lexib
le
Jo
in
t
S
p
a
ce
Ma
n
ip
u
la
to
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s
”
,
P
r
ep
r
in
ts
o
f
t
h
e
1
8
th
I
FAC
W
o
r
ld
C
o
n
g
r
ess
,
Milan
o
(
I
tal
y
)
,
2
0
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1
.
[
2
]
.
A
li
R
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a
Sa
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a
n
d
Mo
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m
m
ad
R
ez
a
Mo
d
ab
b
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ia,
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B
a
ck
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tep
p
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Meth
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F
o
r
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ith
m”
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ter
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o
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o
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ati
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o
m
p
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n
f
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C
o
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v
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l
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o
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J
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2
0
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p
p
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-
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0
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[
3
]
.
Hich
a
m
C
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ail
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,
Mo
h
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m
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ig
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ian
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f
fi
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A
d
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Flex
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ip
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o
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2
0
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v
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p
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.
[
4
]
.
Su
n
g
J
in
Yo
o
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J
in
B
ae
P
ar
k
,
an
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Yo
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Ho
C
h
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o
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o
b
o
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Usi
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Sel
f
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Net
w
o
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k
s
,
I
E
E
E
T
R
A
N
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A
C
T
I
ONS
ON
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MS,
MA
N,
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T
I
C
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-
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AR
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:
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6
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p
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5
,
DE
C
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[
5
]
.
Mo
h
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m
m
ad
Am
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R
a
s
h
id
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f
ar
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li
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R
a
s
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Dar
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Mo
d
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Usi
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Su
p
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tern
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tio
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a
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o
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l
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R
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tics
a
n
d
A
u
t
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ma
tio
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(
I
JR
A
)
,
Vo
l.2
,
No
.
2
,
p
p
.
5
6
-
6
8
,
J
u
n
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2
0
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.
[
6
]
.
R
o
n
g
Me
i,
Mo
u
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h
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n
,
R
o
b
u
s
t
P
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n
C
o
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tr
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o
f
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lectr
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ical
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.
3
,
p
p
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1
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7
4
-
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8
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,
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r
ch
2
0
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.
[
7
]
.
He
J
in
b
ao
,
Yi
Xin
h
u
a,
L
u
o
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aif
ei
,
L
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G
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o
j
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n
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B
ac
k
s
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Dec
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alize
d
Fa
u
lt
T
o
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fig
u
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ab
le
Mo
d
u
lar
R
o
b
o
ts
,
I
A
E
S
TELK
OM
N
I
K
A
,
Vo
l.
1
1
,
No
.
7
,
p
p
.
3
5
0
8
-
3
5
1
6
,
J
u
l
y
2
0
1
3
.
[
8
]
.
Yo
n
g
q
iao
W
ei,
L
i
Ho
u
,
Z
h
i
j
u
n
Su
n
,
Fen
g
la
n
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ia,
B
o
L
i,
B
ac
k
s
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p
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g
A
d
ap
tiv
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u
z
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e
m
e
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r
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R
A
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4
0
0
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o
b
o
t,
I
A
E
S
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N
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K
A
,
Vo
l.
1
1
,
No
.
8
,
p
p
.
4
2
2
9
-
4
2
3
7
,
A
u
g
u
s
t 2
0
1
3
.
[
9
]
.
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C
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A
,
San
d
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T
OM
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I
(
1
9
9
2
)
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o
b
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y
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n
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ly
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in
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o
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s
u
r
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ts
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E
E
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r
an
s
ac
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s
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to
m
at
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o
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tr
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l 3
5
(
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9
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0
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1
0
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8
-
1
0
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1
.
[
1
0
]
.
B
r
id
g
es,
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M.
,
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M.
Da
w
s
o
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an
d
C
.
T
.
A
b
d
allah
(
1
9
9
5
)
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o
n
tr
o
l
o
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id
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l
in
k
,
fl
e
x
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le
-
j
o
in
t
r
o
b
o
ts
:
a
s
u
r
v
e
y
o
f
b
ac
k
s
tep
p
in
g
ap
p
r
o
ac
h
es.
Jo
u
r
n
a
l o
f R
o
b
o
tic
S
ystems
,
p
p
1
9
9
-
2
1
6
.
[
1
1
]
.
W
.
Yim
,
A
d
a
p
tive
C
o
n
tr
o
l
o
f
a
F
ex
ib
le
Jo
in
t
Ma
n
ip
u
la
t
o
r
,
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r
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c
.
o
f
I
E
E
E
I
n
ter
n
atio
n
a
l
C
o
n
f
er
e
n
ce
R
o
b
o
tics
Au
to
m
atio
n
,
Seo
u
l,
Ko
r
ea
,
p
p
.
3
4
4
1
-
3
4
4
6
,
Ma
y
2
0
0
1
.
[
1
2
]
.
Oh
,
J
.
H.
an
d
L
ee
,
J
.
S.,
1
9
9
7
.
C
o
n
tr
o
l
o
f
F
lexib
le
Jo
i
n
t
R
o
b
o
t
S
ystem
b
y
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a
ck
s
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p
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n
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A
p
p
r
o
a
ch
.
Pro
c.
o
f
I
E
E
E
I
n
ter
n
atio
n
al
C
o
n
f
er
en
ce
o
n
R
o
b
o
tics
A
u
to
m
atio
n
,
p
p
.
3
4
3
5
-
3
4
4
0
.
[
1
3
]
.
Mo
h
d
Ash
r
a
f
Ah
m
ad
,
Mo
h
d
Z
aid
i
Mo
h
d
T
u
m
ar
i
a
n
d
Ah
m
ad
No
r
Kasr
u
d
d
in
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C
o
m
p
o
s
ite
F
u
zz
y
L
o
g
ic
C
o
n
tr
o
l
A
p
p
r
o
ac
h
to
a
Flex
ib
le
J
o
in
t
Ma
n
ip
u
lato
r
,
I
n
tern
a
tio
n
a
l
Jo
u
r
n
a
l
o
f
A
d
v
a
n
ce
d
R
o
b
o
tic
S
ystems
.
[
1
4
]
.
S.
Ozg
o
li
a
n
d
H.
D.
T
ag
h
ir
a
d
,
A
SU
R
VE
Y
ON
T
HE
C
O
NT
R
OL
OF
F
L
E
XI
B
L
E
J
OI
NT
R
OB
OT
S
,
A
s
ia
n
Jo
u
r
n
a
l
o
f Co
n
tr
o
l
,
Vo
l.
8
,
No
.
4
,
p
p
.
3
3
2
-
3
4
4
,
Dec
em
b
er
2
0
0
6
.
[
1
5
]
.
Do
n
g
H
w
a
n
Ki
m
a
n
d
W
o
n
Ho
Oh
,
R
o
b
u
s
t
C
o
n
tr
o
l
Desi
g
n
f
o
r
Flex
ib
le
J
o
in
t
Ma
n
ip
u
lato
r
s
:
T
h
eo
r
y
a
n
d
E
x
p
er
i
m
e
n
tal
Ver
i
fi
ca
tio
n
,
I
n
tern
a
tio
n
a
l
Jo
u
r
n
a
l
of
C
o
n
tr
o
l,
A
u
to
ma
tio
n
,
and
S
ystems
,
v
o
l
.
4,
n
o
.
4,
pp.
495
-
505,
A
u
g
u
s
t 2
0
0
6
.
[
1
6
]
.
A
li
R
ez
a
Sa
h
ab
an
d
Am
ir
Gh
o
la
m
i
P
asta
k
i,
Op
ti
m
al
C
o
n
tr
o
ller
w
it
h
B
ac
k
s
tep
p
in
g
a
n
d
B
E
L
B
I
C
f
o
r
Sin
g
le
-
L
in
k
Flex
ib
le
Ma
n
ip
u
l
ato
r
,
W
o
r
l
d
A
ca
d
e
m
y
o
f
Scie
n
ce
,
E
n
g
i
n
ee
r
in
g
a
n
d
T
ec
h
n
o
lo
g
y
,
v
o
l
5
5
,
2
0
1
1
.
[
1
7
]
.
L
.
B
ai,
E
lectric
Dri
ve
S
ystem
w
ith
B
LDC
Mo
to
r
,
P
r
o
c.
I
E
E
E
I
n
ter
n
atio
n
al
C
o
n
f
er
e
n
c
e
o
n
E
lectr
ic
I
n
f
o
r
m
a
tio
n
a
n
d
C
o
n
tr
o
l E
n
g
i
n
ee
r
in
g
(
I
C
E
I
C
E
)
,
2
0
1
1
.
[
1
8
]
.
L
.
Z
o
u
ar
i,
A
.
B
.
R
h
o
u
m
a,
M.
Ab
id
.
On
th
e
P
o
te
n
tia
liti
es
o
f
R
ed
u
ce
d
S
tr
u
ctu
r
e
I
n
ve
r
ter
I
n
teg
r
a
ted
in
R
o
b
o
t
A
p
p
lica
tio
n
.
P
r
o
ce
ed
in
g
s
o
f
th
e
W
o
r
ld
C
o
n
g
r
ess
o
n
E
n
g
i
n
ee
r
i
n
g
(
W
C
E
2
0
1
2
)
,
L
o
n
d
o
n
,
U.
K,
v
o
l.
2
,
p
p
.
9
5
3
-
9
5
8
,
2
0
1
2
.
[
1
9
]
.
B.
B
R
OGL
I
A
T
O,
R.
O
R
T
E
GA
an
d
R.
L
O
Z
A
NO
S,
Glo
b
al
T
r
ac
k
in
g
C
o
n
tr
o
ller
s
f
o
r
Flex
ib
le
-
j
o
in
t
Ma
n
ip
u
la
to
r
s
: a
C
o
m
p
ar
ati
v
e
Stu
d
y
,
A
u
to
ma
tica
.
v
o
l.
3
1
,
n
o
.
1
,
1
9
9
5
,
p
p
.
9
4
1
-
956.
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