Dynamic compensability and compensability measure for robot systems with structural flexibility

DOI10.1016/S0094-114X(98)00060-3MaRDI QIDQ1301103zbMATH OpenFDO

Authors Zhao-Hui Jiang, Andrew A. Goldenberg

Publication date 15 September 1999

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0094-114X(98)00060-3

zbMATH Keywords

compensability measuredynamic compensabilityellipsoidend-effector acceleration errorflexible robot armsjoint torquelink flexural displacementlinks flexibilitystructural flexibility

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(4)

• A synthesis of the control for the flexible robot under uncertainty of information using indirect compensation
• Flexible torque feed-forward control of robots in the flexible dynamics model
• Evaluation of dynamic capabilities of machines and robots
• Design of a robotic spherical wrist with variable stiffness

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