Modeling, design, and control of flexible manipulator arms: a tutorial review
- 1 January 1990
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 500-506 vol.2
- https://doi.org/10.1109/cdc.1990.203648
Abstract
High performance manipulators with dynamic behavior in which the flexibility is an essential aspect are addressed. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are first examined. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed.<>Keywords
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