Abstract: A new symbolic differentiation algorithm is proposed in this paper to automatically generate the inverse dynamics of flexible-joint robots in symbolic form, and results obtained can be used in real-time applications. The ...

Abstract: Most industrial serial robots use decentralized joint controllers assuming rigid body dynamics. To prevent exciting the flexible mode, gains are kept low, resulting in poor control bandwidth and disturbance rejection. In ...

Abstract: The telescoping ballbar is a versatile and easy-to-use error identification instrument for machine tools. The ballbar movement trajectory used while machining is limited to acquiring a large circular arc for positioning ...