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- W4254703103 abstract "This chapter discusses how electric motors are used to actuate the joints of small size manipulators, like robotic hand. It is necessary to have a mathematical model that describes the dynamic behavior of robotic hand for the purpose of designing the control system. The chapter discusses the relation related to the coupling between the motor gear and loaded joint gear in the absence of slipping. The dynamic equations of hand motion are derived via Lagrangian approach using kinetic energy and potential energy. Diagonal matrices represent armature inductances, armature resistances, and motor back e.m.f. constants. A diagonal positive definite matrix and sign (q) is a vector whose components are given by the sign functions of the single joint velocities." @default.
- W4254703103 created "2022-05-12" @default.
- W4254703103 date "2017-09-01" @default.
- W4254703103 modified "2023-10-16" @default.
- W4254703103 title "Dynamic Models" @default.
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- W4254703103 doi "https://doi.org/10.1002/9781119273622.ch3" @default.
- W4254703103 hasPublicationYear "2017" @default.
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