Modelling and experimental validation of a planar 2-dof cobot as a differential-algebraic equation system

DOI10.1016/J.APM.2016.06.007MaRDI QIDQ2293792zbMATH OpenOpenAlexWikidataFDO

Authors Omar Mendoza-Trejo, Carlos A. Cruz-Villar

Publication date 5 February 2020

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2016.06.007

zbMATH Keywords

collaborative robotscontinuously variable transmissiondifferential gear traindifferential-algebraic equation systemnon-holonomic constraint

Mathematics Subject Classification ID

Ordinary differential equations and systems on manifolds (34C40) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A modified Lagrangian formulation for the dynamic analysis of constrained mechanical systems
• Dynamics and balancing of multibody systems
• Dynamics of Multibody Systems
• Dynamics of Multibody Systems
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• scientific article; zbMATH DE number 44365 (Why is no real title available?)
• scientific article; zbMATH DE number 193221 (Why is no real title available?)
• Kinematics and dynamics of multibody systems with imperfect joints. Models and case studies
• Nonlinear Programming
• The numerical solution of differential-algebraic systems by Runge-Kutta methods

Cited in

(1)

• Control of minimally constrained cobots

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