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Encoderless Position Control of a Two-Link Robot Manipulator

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Academic year: 2021

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Figure

Fig. 1. Illustration of the differences between the existing encoder-based robot control approaches - in (a) and (b), and the proposed encoderless robot control (EnRoCo) - in (c)
Fig. 2. A high-level diagram showing how the proposed Encoderless Robot Control (EnRoCo) approach works.
Fig. 3. Example actuation primitives as the ones used by the proposed Encoderless Robot Control implementation
Fig. 4. These experiments demonstrate how the EnRoCo controller can reach a desired reference/target position for the end effector
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