COMBINING INTERNAL AND EXTERNAL ROBOT MO
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X. CHENUT; J.C. SAMIN; J. SWEVERS; C. GANSEMAN
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Article
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2000
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Elsevier Science
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English
⚖ 182 KB
Experimental robot identi"cation techniques can principally be divided into two categories, based on the type of models they use : internal or external. Internal models relate the joint torques or forces and the motion of the robot; external models relate the reaction forces and torques on the bedpl