Abstract: This paper presents a motion control technique for flexible robots and manipulators. It takes into account both joint and link flexibility and can be applied in adaptive form if robot parameters ...

Abstract: This paper presents an optimal estimation method for nonlinear mechanical systems. The a priori knowledge of the system in the form of a nonlinear model structure is taken as a starting point. ...

Abstract: A general description of the dynamics of a deformable body experiencing large displacements is presented. These displacements are resolved into displacements due to deformation and displacements ...