A Further Note on the Passive Joint Control of a Flexible Robotic Arm
β Scribed by A. Warkentin; S.E. Semercigil
- Publisher
- Elsevier Science
- Year
- 1994
- Tongue
- English
- Weight
- 146 KB
- Volume
- 174
- Category
- Article
- ISSN
- 0022-460X
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π SIMILAR VOLUMES
This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm c
In a recent article [1], Pun and Semercigil successfully applied a joint variable stiffness control (VSC) scheme to a one-link flexible arm. A standard finite element method was used to discretize the continuous system and produce global matrices. The Newmark-b method was applied to integrate the gl
Considered is the rotation of a robot arm or rod in a horizontal plane about an axis through the arm's fixed end and driven by a motor whose torque is controlled. The model was derived and investigated computationally by Sakawa and co-authors in [7] for the case that the arm is described as a homoge
The simulations of multibody dynamic systems with #exible components are generally based on solving the equations of motion by using approximate methods. This approach is taken because these systems' closed-form solutions are often not directly available. These methods often assume a solution as a "