Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace

<div>(a) Relationship between desired position P1 and control deviation P2. (b) Transformation matric T from P1 to P2. (c) Inversely convert T−1 from P1 to P3 to initiate alternative trajectory.</div>

Journal of Robotics

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Figure 1

Figure 1: Robot Control Using Alternative Trajectories Based on Inverse Errors in the Workspace 