Dynamic Models of Robots with Elastic Hinges
نویسندگان
چکیده
منابع مشابه
Dynamic Analysis of Axially Beam on Visco - Elastic Foundation with Elastic Supports under Moving Load
For dynamic analyses of railway track structures, the algorithm of solution is very important. For estimating the important problems in the railway tracks such as the effects of rail joints, rail supports, rail modeling in the nearness of bridge and other problems, the models of the axially beam model on the elastic foundation can be utilized. For studying the effects of axially beam on the ela...
متن کاملDynamic Trajectory Generation for Serial Elastic Actuated Robots
Robotic systems can benefit from the introduction of properly chosen joint elasticity. Besides their robustness against rigid impact, the energy saving capabilities may increase the system dynamics. In this paper, a method applicable for robots with serial elastic joints is presented, which embodies a desired oscillatory behavior into the hardware and thereby leads to improved performance. This...
متن کاملInteger-order Versus Fractional-order Adaptive Fuzzy Control of Electrically Driven Robots with Elastic Joints
Real-time robust adaptive fuzzy fractional-order control of electrically driven flexible-joint robots has been addressed in this paper. Two important practical situations have been considered: the fact that robot actuators have limited voltage, and the fact that current signals are contaminated with noise. Through of a novel voltage-based fractional order control for an integer-order dynamical ...
متن کاملIdentifiability of Dynamic Stochastic General Equilibrium Models with Covariance Restrictions
This article is concerned with identification problem of parameters of Dynamic Stochastic General Equilibrium Models with emphasis on structural constraints, so that the number of observable variables is equal to the number of exogenous variables. We derived a set of identifiability conditions and suggested a procedure for a thorough analysis of identification at each point in the parameters sp...
متن کاملA General Algorithm for Dynamic Feedback Linearization of Robots with Elastic Joints
For a general class of robots with elastic joints, we introduce an inversion algorithm for the synthesis of a dynamic feedback control law that gives input-output decoupling and full state linearization. Control design i s performed directly on the second-order robot dynamic equations. The linearizing control law i s expressed in terms of the original model components and of their time derivati...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IOP Conference Series: Materials Science and Engineering
سال: 2016
ISSN: 1757-8981,1757-899X
DOI: 10.1088/1757-899x/124/1/012068