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Research for the clamping force control of pneumatic manipulator based on the mixed sensitivity method

✍ Scribed by Peng Yi; Rui-Bo Yuan; Wei Long; Shao-nan Ba


Book ID
119356479
Publisher
Elsevier
Year
2012
Tongue
English
Weight
470 KB
Volume
31
Category
Article
ISSN
1877-7058

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✍ Andreas Pott; AndrΓ©s KecskemΓ©thy; Manfred Hiller πŸ“‚ Article πŸ“… 2007 πŸ› Elsevier Science 🌐 English βš– 595 KB

In this paper a method is proposed to efficiently linearize the geometry of complex multibody systems by exploiting the kinetostatic dualism, i.e. formulating the linearization in terms of the force transmission. In this setting, an algorithm is introduced by which one can perform the linearization