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Review article : Modeling and control of elastic joint robots

✍ Scribed by M.W. Spong


Publisher
Elsevier Science
Year
1989
Tongue
English
Weight
46 KB
Volume
12
Category
Article
ISSN
0895-7177

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A novel model manipulation of elastic-jo
✍ K.A. Tahboub; P.C. MΓΌller πŸ“‚ Article πŸ“… 1994 πŸ› Elsevier Science 🌐 English βš– 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