Motion control of the flexible manipulator via controllable local degrees of freedom
β Scribed by Yushu Bian; Zhihui Gao; Chao Yun
- Publisher
- Springer Netherlands
- Year
- 2008
- Tongue
- English
- Weight
- 504 KB
- Volume
- 55
- Category
- Article
- ISSN
- 0924-090X
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
This paper presents a comprehensive dynamic modeling of a flexible link manipulator by using Hamilton's principle. The model is formulated by considering the flexible arm as a Timoshenko beam model. Hence, the shear, bending as well as rotational inertia effect of the manipulator are all taken into
This paper presents an automatic control system for welding the root-pass in a seam joining a nozzle perpendicular onto a large diameter pipe. The system is based on the use of a geometry model of the welding seam and on inverse welding process models (i.e. models that map desired weld quality, join
## Abstract A redundant manipulator is useful for posture control while maintaining the desired endβeffector position by using its redundancy. This makes it possible to perform agile motions such as obstacle avoidance while achieving the target task. However, as the number of degrees of freedom of