Abstract: Taking advantage of their inherent dexterity, robotic arms are competent in completing many tasks efficiently. As a result of the modeling complexity and kinematic uncertainty of robotic ...

Abstract: Dual-arm robot has been widely used in industry and service trades. It increases the degree of freedom within the workspace, while leading to more complex task planning problems. When ...

This repository contains example controllers and reference implementations for a planar two-joint manipulator. The projects demonstrate different control approaches: adaptive control, robust control, ...