A novel model manipulation of elastic-jo
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K.A. Tahboub; P.C. MΓΌller
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Article
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1994
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Elsevier Science
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English
β 261 KB
This paper presents a new method to control elastic-joint robots. Models that include electrical and mechanical parts of actuator dynamics, together with joint elasticity are considered. A novel nonlinear coordinate transformation is introduced. It is possible after the transformation to exactly li