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Hybrid actuator for robot manipulators: Design, control and performance

✍ Scribed by James K. Mills


Publisher
Elsevier Science
Year
1993
Tongue
English
Weight
804 KB
Volume
3
Category
Article
ISSN
0957-4158

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πŸ“œ SIMILAR VOLUMES


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This paper presents a PD controller for robot manipulator considering simultaneously joint #exibility, actuators dynamics as well as friction. The convergence analysis of the proposed PD controller is carried out using passivity. Global convergence to a desired "xed angular position is proved using