Dynamical properties of manipulators exhibiting flexibilities
- 4 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Some important dynamic properties of manipulators with flexible joints and links are presented. Partial feedback linearization, the zero dynamics of flexible-link manipulators, and a class of multibody flexible structures are considered. It is shown that the nonlinear systems in this class are non-minimum-phase when sensing and actuation are noncollocated. Only link flexibility is included. However, analogous results can be obtained if the effects of joint flexibility are consideredKeywords
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