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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Bibliographic Details
Main Author: Azenha, Abílio (author)
Other Authors: Tenreiro Machado, J. A. (author)
Format: conferenceObject
Language:eng
Published: 1996
Subjects:
Robot dynamics
Backlash
Robot control
Friction
Robot kinematics
Frequency
Online Access:http://hdl.handle.net/10400.22/13500
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13500

Internet

http://hdl.handle.net/10400.22/13500

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