𝔖 Bobbio Scriptorium
✦   LIBER   ✦

Static balancing and dynamic decoupling of the motion of manipulation robots

✍ Scribed by V.F. Filaretov; M.K. Vukobratović


Publisher
Elsevier Science
Year
1993
Tongue
English
Weight
826 KB
Volume
3
Category
Article
ISSN
0957-4158

No coin nor oath required. For personal study only.


📜 SIMILAR VOLUMES


Design and analysis of the statically ba
✍ H. Kazerooni 📂 Article 📅 1989 🏛 Elsevier Science 🌐 English ⚖ 990 KB

A practical architecture, using a four-bar linkage, is considered for the University of Minnesota direct-drive robot (Kazerooni, H., Kim, S.: A new architecture for direct drive robots. In Proc. IEEE International Conference on Robotics and Automation, Philadelphia, Pennsylvania, April 1988). This s

Variable structure adaptive motion and f
✍ Bin Yao; S.P. Chan; Danwei Wang 📂 Article 📅 1994 🏛 Elsevier Science 🌐 English ⚖ 436 KB

A variable structure adaptive method is developed for robust motion and force tracking control of robot manipulators in the presence of uncertainties in parameters of robot dynamics, contact surface, and external disturbances. The method takes advantages of both variable structure control (VSC) and

New approach for computer-aided static a
✍ G.A. Hassan 📂 Article 📅 1995 🏛 Elsevier Science 🌐 English ⚖ 479 KB

A new black box approach is suggested based on running a minimum number of balancing trials and using regression analysis to relate the vibration amplitude at one or two rotor bearings to the balancing variables (weight, mass and location angle). A powerful optimization technique is used to minimize

On the dynamical pulse-width-modulation
✍ Hebertt Sira-Ramirez; Orestes Llanes-Santiago 📂 Article 📅 1996 🏛 John Wiley and Sons 🌐 English ⚖ 859 KB

Pulse-width-modulation (PWM) feedback strategies have been of limited theoretical interest in the control of nonlinear mechanical systems, such as robotic manipulators. The chattering, associated with an underlying discontinuous control policy, has traditionally been regarded as a serious drawback w