Abstract:
The formulation of an appropriate hybrid lumped/distributed model of a flexible robot link makes it possible to formulate and study tracking problems without the necessit...Show MoreMetadata
Abstract:
The formulation of an appropriate hybrid lumped/distributed model of a flexible robot link makes it possible to formulate and study tracking problems without the necessity for a priori approximations in the flexibility model for the link. The use of secondary support beam and active tip control provides perfect tracking with hypothetical exact measurements, and tracking to arbitrary accuracy with use of a variant of the acceleration feedback technique.<>
Published in: IEEE Transactions on Automatic Control ( Volume: 33, Issue: 3, March 1988)
DOI: 10.1109/9.401
