𝔖 Bobbio Scriptorium
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Modelling robot elastic links

✍ Scribed by André Kiedrzynski


Publisher
Elsevier Science
Year
1988
Tongue
English
Weight
360 KB
Volume
4
Category
Article
ISSN
0921-8890

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The setpoint regulation problem for robotic manipulators is a basic task that can be solved either by PID control or by model-based gravity compensation. These approaches are commonly applied both to rigid arms and to robots with flexible links and/or elastic joints. However, PID control requires fi