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- W2058060146 abstract "This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm." @default.
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- W2058060146 date "1992-06-01" @default.
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- W2058060146 title "Discrete-Time Inverse Dynamics Control of Flexible Joint Robots" @default.
- W2058060146 doi "https://doi.org/10.1115/1.2896519" @default.
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