๐”– Bobbio Scriptorium
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TRACKING CONTROL IN THE PRESENCE OF NONLINEAR DYNAMIC FRICTIONAL EFFECTS: ROBOT EXTENSION

โœ Scribed by M. Feemster; D.M. Dawson; A. Behal; W. Dixon


Book ID
114944541
Publisher
John Wiley and Sons
Year
2008
Tongue
English
Weight
252 KB
Volume
1
Category
Article
ISSN
1561-8625

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INVERSE DYNAMICS CONTROL OF CONSTRAINED
โœ S.KEMAL IDER ๐Ÿ“‚ Article ๐Ÿ“… 1999 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 192 KB

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