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JOINT STIFFNESS CONTROL OF A ONE-LINK FLEXIBLE ARM

✍ Scribed by J. Pun; S.E. Semercigil

Publisher: Elsevier Science
Year: 1997
Tongue: English
Weight: 403 KB
Volume: 203
Category: Article
ISSN: 0022-460X
DOI: 10.1006/jsvi.1995.9986

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📜 SIMILAR VOLUMES

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✍ K.H. Low 📂 Article 📅 1998 🏛 Elsevier Science 🌐 English ⚖ 120 KB

In a recent article [1], Pun and Semercigil successfully applied a joint variable stiffness control (VSC) scheme to a one-link flexible arm. A standard finite element method was used to discretize the continuous system and produce global matrices. The Newmark-b method was applied to integrate the gl

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This paper presents a composite control approach to the adaptive control of flexible joint robots. The scheme requires augmented measurements of torque by using strain gauges mounted on the joint transmission shafts. Simulation results for a three-degree-of-freedom direct drive flexible joint arm c

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✍ O. KOPMAZ; K.S. ANDERSON 📂 Article 📅 2001 🏛 Elsevier Science 🌐 English ⚖ 283 KB

The simulations of multibody dynamic systems with #exible components are generally based on solving the equations of motion by using approximate methods. This approach is taken because these systems' closed-form solutions are often not directly available. These methods often assume a solution as a "