Comparative study on control concepts of a robot manipulator with multiple-link/joint flexibilities
โ Scribed by Staufer, Peter; Gattringer, Hubert; Bremer, Hartmut
- Book ID
- 118765140
- Publisher
- John Wiley and Sons
- Year
- 2012
- Weight
- 309 KB
- Volume
- 12
- Category
- Article
- ISSN
- 1617-7061
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๐ SIMILAR VOLUMES
The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler-Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case stu
This work deals with the control of a three-link planar manipulator whose motion is subjected to inequality constraints on the trajectories of its joints, and to other constraints on the trajectory of its end-effector. (~) 2001 Elsevier Science Ltd. All rights reserved.