Matches in SemOpenAlex for { <https://semopenalex.org/work/W1608014790> ?p ?o ?g. }
Showing items 1 to 88 of
88
with 100 items per page.
- W1608014790 abstract "As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links becomes more of an issue in control. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. This research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixed, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to the inverse dynamic algorithms that are currently under development." @default.
- W1608014790 created "2016-06-24" @default.
- W1608014790 creator A5029259638 @default.
- W1608014790 creator A5046743886 @default.
- W1608014790 date "1991-11-14" @default.
- W1608014790 modified "2023-09-26" @default.
- W1608014790 title "Numerical analysis of nonminimum phase zero for nonuniform link design" @default.
- W1608014790 cites W1551042121 @default.
- W1608014790 cites W1558388983 @default.
- W1608014790 cites W2033186871 @default.
- W1608014790 cites W2057709136 @default.
- W1608014790 cites W2077868323 @default.
- W1608014790 cites W2085080587 @default.
- W1608014790 cites W2093897717 @default.
- W1608014790 cites W2137955597 @default.
- W1608014790 cites W2512619910 @default.
- W1608014790 cites W2623744864 @default.
- W1608014790 cites W3147422278 @default.
- W1608014790 hasPublicationYear "1991" @default.
- W1608014790 type Work @default.
- W1608014790 sameAs 1608014790 @default.
- W1608014790 citedByCount "0" @default.
- W1608014790 crossrefType "journal-article" @default.
- W1608014790 hasAuthorship W1608014790A5029259638 @default.
- W1608014790 hasAuthorship W1608014790A5046743886 @default.
- W1608014790 hasConcept C10138342 @default.
- W1608014790 hasConcept C114614502 @default.
- W1608014790 hasConcept C121332964 @default.
- W1608014790 hasConcept C127413603 @default.
- W1608014790 hasConcept C154945302 @default.
- W1608014790 hasConcept C162324750 @default.
- W1608014790 hasConcept C168834538 @default.
- W1608014790 hasConcept C198082294 @default.
- W1608014790 hasConcept C2775924081 @default.
- W1608014790 hasConcept C2778753846 @default.
- W1608014790 hasConcept C33923547 @default.
- W1608014790 hasConcept C41008148 @default.
- W1608014790 hasConcept C44280652 @default.
- W1608014790 hasConcept C47446073 @default.
- W1608014790 hasConcept C58581272 @default.
- W1608014790 hasConcept C62520636 @default.
- W1608014790 hasConcept C66938386 @default.
- W1608014790 hasConcept C90509273 @default.
- W1608014790 hasConceptScore W1608014790C10138342 @default.
- W1608014790 hasConceptScore W1608014790C114614502 @default.
- W1608014790 hasConceptScore W1608014790C121332964 @default.
- W1608014790 hasConceptScore W1608014790C127413603 @default.
- W1608014790 hasConceptScore W1608014790C154945302 @default.
- W1608014790 hasConceptScore W1608014790C162324750 @default.
- W1608014790 hasConceptScore W1608014790C168834538 @default.
- W1608014790 hasConceptScore W1608014790C198082294 @default.
- W1608014790 hasConceptScore W1608014790C2775924081 @default.
- W1608014790 hasConceptScore W1608014790C2778753846 @default.
- W1608014790 hasConceptScore W1608014790C33923547 @default.
- W1608014790 hasConceptScore W1608014790C41008148 @default.
- W1608014790 hasConceptScore W1608014790C44280652 @default.
- W1608014790 hasConceptScore W1608014790C47446073 @default.
- W1608014790 hasConceptScore W1608014790C58581272 @default.
- W1608014790 hasConceptScore W1608014790C62520636 @default.
- W1608014790 hasConceptScore W1608014790C66938386 @default.
- W1608014790 hasConceptScore W1608014790C90509273 @default.
- W1608014790 hasLocation W16080147901 @default.
- W1608014790 hasOpenAccess W1608014790 @default.
- W1608014790 hasPrimaryLocation W16080147901 @default.
- W1608014790 hasRelatedWork W150510750 @default.
- W1608014790 hasRelatedWork W1993096373 @default.
- W1608014790 hasRelatedWork W2104520334 @default.
- W1608014790 hasRelatedWork W2182747365 @default.
- W1608014790 hasRelatedWork W2296428861 @default.
- W1608014790 hasRelatedWork W2314725947 @default.
- W1608014790 hasRelatedWork W2495349707 @default.
- W1608014790 hasRelatedWork W2744903290 @default.
- W1608014790 hasRelatedWork W2788160818 @default.
- W1608014790 hasRelatedWork W2943769175 @default.
- W1608014790 hasRelatedWork W2954194904 @default.
- W1608014790 hasRelatedWork W3030581761 @default.
- W1608014790 hasRelatedWork W3048678438 @default.
- W1608014790 hasRelatedWork W3088576836 @default.
- W1608014790 hasRelatedWork W3089159651 @default.
- W1608014790 hasRelatedWork W3107509003 @default.
- W1608014790 hasRelatedWork W3116747474 @default.
- W1608014790 hasRelatedWork W3171421819 @default.
- W1608014790 hasRelatedWork W3207602151 @default.
- W1608014790 hasRelatedWork W2846199622 @default.
- W1608014790 isParatext "false" @default.
- W1608014790 isRetracted "false" @default.
- W1608014790 magId "1608014790" @default.
- W1608014790 workType "article" @default.