𝔖 Bobbio Scriptorium
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Robot contact tasks in the presence of control target distortions

✍ Scribed by Y. Karayiannidis; Z. Doulgeri


Book ID
108260081
Publisher
Elsevier Science
Year
2010
Tongue
English
Weight
922 KB
Volume
58
Category
Article
ISSN
0921-8890

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INVERSE DYNAMICS CONTROL OF CONSTRAINED
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An inverse dynamics control algorithm for constrained #exible-joint robots is developed. It is shown that in a #exible-joint robot, the acceleration level inverse dynamic equations are singular because of the elastic media. Implicit numerical integration methods that account for the higher order der