• Filtering Micro-Manipulator Wrist Commands to Prevent Flexible Base Motion 

      Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1995-06)
      This paper examines control issues related to positioning a small articulating robot attached to a much larger, flexible manipulator. By shaping the joint position error with a finite impulse response filter actuation ...