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Nowadays robotics educational platforms play an important role in the development and testing of new robotic technologies. These systems offer at low cost the possibility to access and experiment basic robot functionalities. In this paper, we examined the KUKA youBot: an omnidirectional mobile platform equipped with a five DOFs (Degrees of Freedom) robotic arm. The current internal design of the control loops limits severely its performances.
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Napoli et al. (2016) studied this question.
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