Recursive modeling and control of multi-link manipulators with vacuum grippers
โ Scribed by R. Callies; S. Fronz
- Publisher
- Elsevier Science
- Year
- 2008
- Tongue
- English
- Weight
- 399 KB
- Volume
- 79
- Category
- Article
- ISSN
- 0378-4754
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๐ SIMILAR VOLUMES
The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler-Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case stu
The explicit, non-recursive symbolic form of the dynamic model of robotic manipulators with compliant links and joints are developed based on a Lagrangiau-assumed mode of formulation. This form of dynamic model is suitable for controller synthesis, as well as accurate simulations of robotic applicat