Control of robots with nonlinear phenomena in the joints
This paper develops the analysis of robots with dynamic phenomena at the joints such as friction, backlash and flexibility. The study adopts the describing function (DF) calculation and a decoupling procedure. The DF's are evaluated by decoupling the link inertias and ignoring the centrifugal,...
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| Formato: | conferenceObject |
| Idioma: | eng |
| Publicado em: |
1996
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| Texto completo: | http://hdl.handle.net/10400.22/13500 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/13500 |