Analysis of Robot Dynamics and Compensation Using Classical and Computed Torque Techniques
A classical analysis of the dynamics of robot manipulators is presented. It is shown that these systems have configuration-dependent properties and can be open-loop unstable. Due to this fact, present day linear controllers are inefficient. On the other hand, nonlinear hardware and software compensa...
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| Outros Autores: | , |
| Formato: | article |
| Idioma: | eng |
| Publicado em: |
1993
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| Assuntos: | |
| Texto completo: | http://hdl.handle.net/10400.22/8845 |
| País: | Portugal |
| Oai: | oai:recipp.ipp.pt:10400.22/8845 |