Dynamical equations of constrained robotic devices
โ Scribed by Mauro Benati; Angelo Morro
- Publisher
- Springer Netherlands
- Year
- 1988
- Tongue
- English
- Weight
- 582 KB
- Volume
- 23
- Category
- Article
- ISSN
- 0025-6455
No coin nor oath required. For personal study only.
๐ SIMILAR VOLUMES
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
The end e ector of a robotic arm is required to keep a contact on the contour of the constraint surface in tasks such as deburring and grinding. Being di erent from contacts resulted from general mechanical pairs, such a contact is unidirectional, or equivalently, the contact force can only act alon