Inverse dynamics of flexible manipulators with Coulomb friction or backlash and non-zero initial conditions

DOI10.1023/A:1008369813432MaRDI QIDQ1290887zbMATH OpenOpenAlexFDO

Authors Thomas A. Trautt, Eduardo Bayo

Publication date 29 November 1999

Published in Dynamics and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1023/a:1008369813432

zbMATH Keywords

Coulomb frictioninverse dynamicsviscous dampingbackslashflexible link robotic manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Automated systems (robots, etc.) in control theory (93C85) Theories of friction (tribology) (74A55)

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• Rational fraction model for regularized inverse dynamics of a flexible manipulator
• Dynamic analysis of 3D beams with joints in the presence of large rotations

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