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
Trajectory tracking control of parallel robots in the presence of joint drive flexibility
β Scribed by S. Kemal Ider; Ozan Korkmaz
- Publisher
- Elsevier Science
- Year
- 2009
- Tongue
- English
- Weight
- 684 KB
- Volume
- 319
- Category
- Article
- ISSN
- 0022-460X
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