Dynamics and control of direct-drive robots with positive joint torque feedback
نویسندگان
چکیده
This paper addresses the dynamics and control of di rect drive robots with positive joint torque feedback We analytically derive the system dynamics in closed form Even though it is coupled and nonlinear in gen eral it is substantially simpler than the robot link dy namics We also derive conditions on the robot con g uration which result in linear dynamics Motion con trol laws for both cases are proposed
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