Inverse dynamics of parallel manipulators in the presence of drive singularities
β Scribed by S. Kemal Ider
- Publisher
- Elsevier Science
- Year
- 2005
- Tongue
- English
- Weight
- 332 KB
- Volume
- 40
- Category
- Article
- ISSN
- 0094-114X
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π 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
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Lower mobility parallel manipulators are designed to perform tasks that require less than six degrees of freedom. The operational mode is given by the type of screw system spanned by the end-effector's twist and it is configuration dependent. A change in the dimension of such screw system occurs at