Experimental determination of frequency response function estimates for flexible joint industrial manipulators with serial kinematics
نویسندگان
چکیده
منابع مشابه
Kinematics of Serial Manipulators
This article deals with the kinematics of serial manipulators. The serial manipulators are assumed to be rigid and are modeled using the well-known Denavit-Hartenberg parameters. Two well-known problems in serial manipulator kinematics, namely the direct and inverse problems, are discussed and several examples are presented. The important concept of the workspace of a serial manipulator and the...
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A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...
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Article history: Received 13 July 2013 Received in revised form 3 August 2013 Accepted 6 August 2013 Available online 14 September 2013 The topic of reachable workspaces of robotic manipulators has received considerable attention over the past half century. One approach to generating workspaces is by sampling joint angles and evaluating the boundary of the resulting set in the space of rigid-bo...
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ژورنال
عنوان ژورنال: Mechanical Systems and Signal Processing
سال: 2015
ISSN: 0888-3270
DOI: 10.1016/j.ymssp.2014.08.011