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- W2321880439 abstract "Robotic manipulators are often coupled with joint flexibilities which will result in unwanted vibrations during the operation of the manipulators and must be controlled or suppressed. In this paper we first developed the dynamics of a single rigid-link flexible-joint robotic manipulator mathematically. In order to obtain an accurate dynamic model, we take into account of the system factors, such as, joint flexibility, damping and friction. Then an impedance controller was designed to perform accurate positioning as well as residual vibration suppression during the operation based on the precise dynamic model. Numerical simulation and experimentation have also been done to validate the effectiveness of the proposed control scheme. York University, Toronto, Ontario, M3J 1P3, Canada" @default.
- W2321880439 created "2016-06-24" @default.
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- W2321880439 date "2013-08-15" @default.
- W2321880439 modified "2023-09-24" @default.
- W2321880439 title "Modeling and Control of Flexible Joint Robotic Manipulator" @default.
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- W2321880439 doi "https://doi.org/10.2514/6.2013-4824" @default.
- W2321880439 hasPublicationYear "2013" @default.
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