| contributor author | K. P. Jankowski | |
| contributor author | H. Van Brussel | |
| date accessioned | 2017-05-08T23:37:58Z | |
| date available | 2017-05-08T23:37:58Z | |
| date copyright | June, 1992 | |
| date issued | 1992 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26183#229_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/109976 | |
| description abstract | This paper focuses on the problem of the application of inverse dynamics control methods to robots with flexible joints and electromechanical actuators. Due to drawbacks of the continuous-time inverse dynamics, discussed in the paper, a new control strategy in discrete-time is presented. The proposed control algorithm is based on numerical methods conceived for the solution of index-three systems of differential-algebraic equations. The method is computationally efficient and admits low sampling frequencies. The results of numerical experiments confirm the advantages of the designed control algorithm. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Discrete-Time Inverse Dynamics Control of Flexible Joint Robots | |
| type | Journal Paper | |
| journal volume | 114 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.2896519 | |
| journal fristpage | 229 | |
| journal lastpage | 233 | |
| identifier eissn | 1528-9028 | |
| keywords | Dynamics (Mechanics) | |
| keywords | Robots | |
| keywords | Control algorithms | |
| keywords | Sampling (Acoustical engineering) | |
| keywords | Numerical analysis | |
| keywords | Electromechanical actuators | |
| keywords | Equations AND Frequency | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1992:;volume( 114 ):;issue: 002 | |
| contenttype | Fulltext | |