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- W2096527834 abstract "The effects of actuator torque/speed constraints on achievable manipulator mechanical impedance are discussed. Beginning with a simplified dynamic model, a describing function analysis is used to examine the constraints for linear behavior as well as the effective closed-loop impedance resulting from the actuator nonlinear characteristics. It is shown that the closed-loop manipulator impedance is a blend of two extreme impedances, and the degree of nonlinearity in the actuator controls the proportion of these two components in the overall dynamic response. The extension to multiple-degree-of-freedom manipulators is also discussed, revealing behavioral properties similar to the single-degree-of-freedom case. The relevance of this simple analysis to manipulator system preliminary design and feasibility studies is stressed. >" @default.
- W2096527834 created "2016-06-24" @default.
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- W2096527834 date "2003-01-07" @default.
- W2096527834 modified "2023-09-27" @default.
- W2096527834 title "Actuator limitations on achievable manipulator impedance" @default.
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- W2096527834 doi "https://doi.org/10.1109/robot.1989.100044" @default.
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