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Keywords: Global Task Coordinate Frame
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Proceedings Papers

Proc. ASME. MSEC2013, Volume 2: Systems; Micro and Nano Technologies; Sustainable Manufacturing, V002T02A025, June 10–14, 2013
Paper No: MSEC2013-1108
... defined task coordinate frames that are subject to significant approximation error. The more accurate global task coordinate frame (GTCF) can be used, but transforming the control problem to the GTCF leads to a highly nonlinear control problem. An adaptive robust control (ARC) approach is designed...