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A feedforward decoupling concept for the control of elastic robots

✍ Scribed by Pfeiffer, Fried Rich


Book ID
112186876
Publisher
John Wiley and Sons
Year
1989
Tongue
English
Weight
394 KB
Volume
6
Category
Article
ISSN
0741-2223

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A novel model manipulation of elastic-jo
✍ K.A. Tahboub; P.C. MΓΌller πŸ“‚ Article πŸ“… 1994 πŸ› Elsevier Science 🌐 English βš– 261 KB

This paper presents a new method to control elastic-joint robots. Models that include electrical and mechanical parts of actuator dynamics, together with joint elasticity are considered. A novel nonlinear coordinate transformation is introduced. It is possible after the transformation to exactly li