An inverse dynamics control algorithm for constrained #exible-joint robots is developed. It is shown that in a #exible-joint robot, the acceleration level inverse dynamic equations are singular because of the elastic media. Implicit numerical integration methods that account for the higher order der
โฆ LIBER โฆ
Control of constrained robots including effects of joint flexibility and actuator dynamics
โ Scribed by Hariharan Krishnan
- Book ID
- 112186339
- Publisher
- John Wiley and Sons
- Year
- 1995
- Tongue
- English
- Weight
- 503 KB
- Volume
- 5
- Category
- Article
- ISSN
- 1049-8923
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