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172 Computed-Torque Control
1 =ATAN2(y, x)-ATAN2 (a 2 sin 2 , a 1 +a 2 cos 2 ) (6)
Figure 4.2.1: Two-link planar elbow arm.
Figure 4.2.2: Desired Cartesian trajectory.
Copyright © 2004 by Marcel Dekker, Inc.
