Adaptive Nonlinear Compensation for a SCARA Robot with Flexible Joints.
نویسندگان
چکیده
منابع مشابه
Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion
Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagaranges equations and Kanes equation with congruency transformations. Finally, the results obtained from both methods are throroughly ...
متن کاملModeling a Robot with Flexible Joints and Decoupling its Equations of Motion
Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagarange's equations and Kane's equation with congruency transformations. Finally, the results obtained from both methods are throroughl...
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متن کاملmodeling a robot with flexible joints and decoupling its equations of motion
recently a method has been developed to decouple the equations of motion for multi-rigid body systems. in this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using lagaranges equations and kanes equation with congruency transformations. finally, the results obtained from both methods are throroughly ...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1991
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.57.1952