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- W2043424732 abstract "A systematical, highly modular approach exploiting the electromechanical analogy and the modified nodal analysis is proposed to assemble and simulate a robot drive train. A polymorphism-based architecture is introduced to handle both electrical and mechanical constituting components. Torques needed to drive a simulated 6-DoF robot manipulator to a given joints configuration are commanded and provided in a two stage position and torque control scheme. Simulation results illustrate the effectiveness and usability of the approach, thus highlighting its potential contributions to the recently introduced eRobotics concept." @default.
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- W2043424732 date "2012-08-01" @default.
- W2043424732 modified "2023-10-16" @default.
- W2043424732 title "Simulation of electrically-driven robot manipulators" @default.
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- W2043424732 doi "https://doi.org/10.1109/icma.2012.6282839" @default.
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