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- W2899062937 abstract "For robot with flexible bar-groups that comprise flexible link, flexible joint and joint clearance, it is difficult to guarantee highly accurate and efficient work. To address this problem, dynamic models of flexible links and flexible joints are studied in this paper, and a comprehensive dynamics model is established by constraints. Based on this comprehensive dynamics model, the comprehensive dexterity is defined by the index functions of condition number, minimum singular and dynamics operand, which can reflect the actual situation. Taking the comprehensive dexterity as the main basis, the novel idea of workspace lattice is put forward, and based on the Fourier transform and the principles of probability and statistics, the workspace lattice of robot system can be obtained. The proposed method is experimentally applied to a light-weight parallel robot, and its feasibility and effectiveness are verified. Moreover, extensive actual operation is performed by the light-weight parallel robot, which demonstrates the adaptive capability and the robustness of the proposed method." @default.
- W2899062937 created "2018-11-09" @default.
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- W2899062937 date "2019-01-01" @default.
- W2899062937 modified "2023-10-14" @default.
- W2899062937 title "New trajectory control method for robot with flexible bar-groups based on workspace lattices" @default.
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- W2899062937 doi "https://doi.org/10.1016/j.robot.2018.10.010" @default.
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