𝔖 Bobbio Scriptorium
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Modeling and design of flexure jointed Stewart platforms for control purposes

✍ Scribed by McInroy, J.E.


Book ID
117875959
Publisher
IEEE
Year
2002
Tongue
English
Weight
285 KB
Volume
7
Category
Article
ISSN
1083-4435

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This paper presents a new method to control elastic-joint robots. Models that include electrical and mechanical parts of actuator dynamics, together with joint elasticity are considered. A novel nonlinear coordinate transformation is introduced. It is possible after the transformation to exactly li