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CO
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o
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r
ac
tice.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
8
-
8708
I
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t J
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lec
&
C
o
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p
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n
g
,
Vo
l.
9
,
No
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4
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A
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1
9
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7
7
1
-
2778
2778
RE
F
E
R
E
NC
E
S
[1
]
I.
Da
v
id
a
n
d
G
.
Ro
b
les
,
“
P
I
D
c
o
n
tro
l
d
y
n
a
m
i
c
s
o
f
a
Ro
b
o
ti
c
a
rm
m
a
n
ip
u
lato
r
w
it
h
t
w
o
d
e
g
re
e
s
o
f
F
re
e
d
o
m
,”
Co
n
tro
l
d
e
Pro
c
e
ss
o
s
y
Ro
b
o
ti
c
a
,
1
7
th
Au
g
u
st
,
p
p
.
3
-
7
,
2
0
1
2
.
[2
]
P.
Ro
c
c
o
,
“
S
tab
il
i
ty
o
f
P
ID
c
o
n
tr
o
l
f
o
r
in
d
u
str
ial
ro
b
o
t
a
rm
s
,
”
IEE
E
tra
n
s
a
c
ti
o
n
s
o
n
ro
b
o
ti
c
s
a
n
d
a
u
t
o
ma
ti
o
n
,
v
o
l/
issu
e
:
12
(4
),
p
p
.
606
-
6
1
4
,
1
9
9
6
.
[3
]
J.
Y.
Die
u
l
o
t
a
n
d
F
.
C
o
las
,
“
R
o
b
u
st
P
ID
c
o
n
tr
o
l
o
f
a
li
n
e
a
r
m
e
c
h
a
n
ica
l
a
x
is:
A
c
a
se
stu
d
y
,
”
M
e
c
h
a
tro
n
ics
,
v
o
l/
issu
e
:
19
(2
),
p
p
.
2
6
9
-
2
7
3
,
2
0
0
9
.
[4
]
M
.
N
.
Ka
m
a
ru
d
in
,
e
t
a
l.
,
“
Ne
w
r
o
b
u
st
b
o
u
n
d
e
d
c
o
n
tro
l
f
o
r
u
n
c
e
rt
a
in
n
o
n
l
in
e
a
r
sy
ste
m
u
sin
g
m
i
x
e
d
b
a
c
k
ste
p
p
i
n
g
a
n
d
ly
a
p
u
n
o
v
re
d
e
sig
n
,”
In
ter
n
a
t
io
n
a
l
J
o
u
r
n
a
l
o
f
El
e
c
trica
l
a
n
d
Co
mp
u
ter
E
n
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
v
o
l/
issu
e
:
9
(2
)
,
2
0
1
9
.
[5
]
M
.
R.
S
o
lt
a
n
p
o
u
r
a
n
d
M
.
M
.
F
a
teh
,
“
S
li
d
in
g
m
o
d
e
ro
b
u
st
c
o
n
tr
o
l
o
f
ro
b
o
t
m
a
n
ip
u
lato
r
i
n
th
e
tas
k
sp
a
c
e
b
y
s
u
p
p
o
rt
o
f
F
e
e
d
b
a
c
k
L
in
e
a
riz
a
ti
o
n
a
n
d
Ba
c
k
S
tep
p
in
g
Co
n
tr
o
l
,”
W
o
rld
Ap
p
li
e
d
S
c
ien
c
e
s
J
o
u
r
n
a
l
,
v
o
l/
iss
u
e
:
6
(1
),
p
p
.
70
-
76
,
2
0
0
9
.
[6
]
F
.
J.
C
.
Ga
rc
ia,
e
t
a
l.
,
“
On
th
e
De
sig
n
o
f
a
4
De
g
re
e
s
-
of
-
F
re
e
d
o
m
P
ick
a
n
d
P
lac
e
Ca
b
le
S
u
sp
e
n
d
e
d
P
a
ra
ll
e
l
M
a
n
ip
u
lato
r
,”
I
AE
S
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
R
o
b
o
ti
c
s a
n
d
Au
t
o
ma
t
io
n
(
IJ
RA
)
,
v
o
l/
issu
e
:
6
(
4
)
,
2
0
1
7
.
[7
]
T
.
J.
T
a
rn
,
e
t
a
l.
,
“
Eff
e
c
t
o
f
m
o
to
r
d
y
n
a
m
ics
o
n
n
o
n
li
n
e
a
r
f
e
e
d
b
a
c
k
ro
b
o
t
a
r
m
c
o
n
tro
l
,”
IEE
E
T
ra
n
sa
c
ti
o
n
s
o
n
Ro
b
o
ti
c
s a
n
d
Au
t
o
ma
ti
o
n
,
v
o
l/
iss
u
e
:
7
(
1
),
pp.
1
1
4
-
1
2
2
,
1
9
9
1
.
[8
]
M
.
R.
S
o
l
tan
p
o
u
r
,
e
t
a
l.
,
“
Ro
b
u
st n
o
n
li
n
e
a
r
c
o
n
t
ro
l
o
f
ro
b
o
t
m
a
n
ip
u
lato
r
w
it
h
u
n
c
e
rtain
ti
e
s
in
k
in
e
m
a
ti
c
s,
d
y
n
a
m
ics
a
n
d
a
c
tu
a
to
r
m
o
d
e
ls
,”
I
n
ter
n
a
t
io
n
a
l
J
o
u
rn
a
l
o
f
In
n
o
v
a
ti
v
e
Co
mp
u
ti
n
g
,
I
n
fo
rm
a
ti
o
n
a
n
d
Co
n
tro
l
,
v
o
l/
issu
e
:
8
(
8
),
p
p
.
5
4
8
7
-
5
4
9
8
,
2
0
1
2
.
[9
]
F.
Ha
ra
sh
i
m
a
,
e
t
a
l.
,
“
P
ra
c
ti
c
a
l
ro
b
u
st
c
o
n
tro
l
o
f
ro
b
o
t
a
rm
u
sin
g
v
a
riab
le
stru
c
tu
re
s
y
ste
m
,”
Pro
c
e
e
d
in
g
s.
1
9
8
6
IEE
E
In
ter
n
a
ti
o
n
a
l
C
o
n
fer
e
n
c
e
o
n
Ro
b
o
ti
c
s a
n
d
A
u
t
o
ma
ti
o
n
,
v
o
l.
3
,
p
p
.
5
3
2
-
5
3
9
,
1
9
8
6
.
[1
0
]
S.
Ku
m
a
r,
“
Ro
b
o
ti
c
A
rm
M
o
v
e
m
e
n
t
o
p
t
im
iza
ti
o
n
u
sin
g
s
o
f
t
Co
m
p
u
ti
n
g
,”
IAE
S
I
n
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ro
b
o
t
ics
a
n
d
Au
to
ma
ti
o
n
(
IJ
RA
)
,
v
o
l/
issu
e
:
6
(1
)
,
2
0
1
7
.
[1
1
]
S
.
Ku
m
a
r,
e
t
a
l.
,
“
Ro
b
o
t
ic
A
r
m
M
o
v
e
m
e
n
t
Op
ti
m
iza
ti
o
n
Us
in
g
S
o
f
t
Co
m
p
u
ti
n
g
,”
IAE
S
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
Ro
b
o
ti
c
s a
n
d
Au
t
o
ma
ti
o
n
(
IJ
RA
)
,
v
o
l/
issu
e
:
6
(
1
)
,
p
p
.
1
-
14
,
2
0
1
7
.
[1
2
]
W
.
Ha
m
,
“
A
d
a
p
ti
v
e
c
o
n
tro
l
b
a
se
d
o
n
e
x
p
li
c
it
m
o
d
e
l
o
f
ro
b
o
t
m
a
n
ip
u
lato
r
,”
IE
EE
tr
a
n
sa
c
ti
o
n
s
o
n
a
u
to
ma
ti
c
c
o
n
tro
l
,
v
o
l/
issu
e
:
38
(4
),
p
p
.
6
5
4
-
658
,
1
9
9
3
.
[1
3
]
S.
Nu
rm
a
in
i
a
n
d
B.
T
u
tu
k
o
,
“
In
telli
g
e
n
t
Ro
b
o
t
ics
Na
v
ig
a
ti
o
n
S
y
ste
m
:
P
ro
b
lem
s,
M
e
th
o
d
s,
a
n
d
A
l
g
o
rit
h
m
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
C
o
m
p
u
ter
En
g
in
e
e
rin
g
(
IJ
ECE
)
,
v
o
l/
issu
e
:
7
(
6
),
pp.
3
7
1
1
-
3
7
2
6
,
2
0
1
7
.
[1
4
]
R.
Ko
k
e
r
a
n
d
A
.
F
e
rik
o
g
lu
,
“
M
o
d
e
l
b
a
se
d
i
n
telli
g
e
n
t
c
o
n
tr
o
l
o
f
a
3
-
jo
i
n
t
r
o
b
o
ti
c
m
a
n
ip
u
lat
o
r:
A
sim
u
latio
n
stu
d
y
u
sin
g
a
rti
f
icia
l
n
e
u
ra
l
n
e
t
w
o
rk
s
,”
In
ter
n
a
ti
o
n
a
l
S
y
mp
o
si
u
m
o
n
Co
mp
u
ter
a
n
d
In
f
o
rm
a
ti
o
n
S
c
ien
c
e
s
,
S
p
ri
n
g
e
r,
Ber
li
n
,
He
id
e
l
b
e
rg
,
p
p
.
3
1
-
40
,
2
0
0
4
.
[1
5
]
A
.
M
a
y
u
b
a
n
d
F
.
F
a
h
m
iza
l,
“
Ce
n
ter
o
f
P
re
ss
u
re
F
e
e
d
b
a
c
k
f
o
r
C
o
n
tr
o
ll
i
n
g
th
e
Walk
in
g
S
tab
il
it
y
Bip
e
d
a
l
Ro
b
o
ts
u
sin
g
F
u
z
z
y
L
o
g
ic
Co
n
tro
ll
e
r
,”
In
ter
n
a
ti
o
n
a
l
J
o
u
rn
a
l
o
f
El
e
c
trica
l
a
n
d
Co
m
p
u
ter
En
g
i
n
e
e
rin
g
(
IJ
ECE
)
,
v
o
l/
issu
e
:
8
(
6
)
,
2
0
1
8
.
[1
6
]
G
.
C.
H
w
a
n
g
a
n
d
S
.
C.
L
in
,
“
A
sta
b
il
it
y
a
p
p
ro
a
c
h
to
f
u
z
z
y
c
o
n
tro
l
d
e
sig
n
f
o
r
n
o
n
li
n
e
a
r
s
y
ste
m
s
,”
Fu
zz
y
se
ts
a
n
d
S
y
ste
ms
,
v
o
l/
issu
e
:
48
(3
)
,
p
p
.
2
7
9
-
2
8
7
,
1
9
9
2
.
[1
7
]
S
.
J.
Hu
a
n
g
a
n
d
J.
S
.
L
e
e
,
“
A
sta
b
le se
lf
-
o
rg
a
n
izin
g
f
u
z
z
y
c
o
n
tro
ll
e
r
f
o
r
ro
b
o
ti
c
m
o
ti
o
n
c
o
n
tr
o
l
,”
IE
E
E
T
ra
n
s
a
c
ti
o
n
s
o
n
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l/
issu
e
:
47
(
2
),
pp.
4
2
1
-
4
2
8
,
2
0
0
0
.
[1
8
]
J.
L
.
M
e
z
a
,
e
t
a
l.
,
“
F
u
z
z
y
S
e
lf
-
Tu
n
i
n
g
P
ID
S
e
m
ig
lo
b
a
l
Re
g
u
lato
r
f
o
r
Ro
b
o
t
M
a
n
i
p
u
lat
o
rs
,”
IEE
E
T
ra
n
s.
I
n
d
u
stria
l
El
e
c
tro
n
ics
,
v
o
l/
iss
u
e
:
59
(6
),
p
p
.
2
7
0
9
-
2
7
1
7
,
2
0
1
2
.
[1
9
]
T
.
N
.
T
ro
n
g
a
n
d
M
.
N
.
Du
c
,
“
S
li
d
i
n
g
S
u
rf
a
c
e
in
Co
n
se
n
su
s
P
r
o
b
lem
o
f
M
u
lt
i
-
A
g
e
n
t
Rig
id
M
a
n
ip
u
lato
rs
w
it
h
Ne
u
ra
l
Ne
tw
o
rk
Co
n
tro
ll
e
r
,”
E
n
e
rg
ies
,
v
o
l/
issu
e
:
10
(
1
2
),
p
p
.
2
1
2
7
,
2
0
1
7
.
[2
0
]
R.
M
.
M
u
rra
y
,
“
A
m
a
th
e
m
a
ti
c
a
l
in
tro
d
u
c
ti
o
n
to
r
o
b
o
ti
c
m
a
n
ip
u
lati
o
n
,”
CRC
p
re
ss
,
2
0
1
7
.
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