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Joint space trajectory planning for flexible manipulators

โœ Scribed by Yao, Chih-Min ;Cheng, Wen-Hon


Book ID
112187087
Publisher
John Wiley and Sons
Year
1995
Tongue
English
Weight
896 KB
Volume
12
Category
Article
ISSN
0741-2223

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Adaptive controller design for flexible
โœ Shuzhi S. Ge ๐Ÿ“‚ Article ๐Ÿ“… 1996 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 619 KB

A new adaptive controller for flexible joint robots is presented here based on singular perturbation theory and using only position and velocity feedback by modelling the 'motor tracking error' Ke, as the fast variables instead of the joint elastic forces, where K represents the joint elasticity and