Title :
Asymptotic inverse dynamics of single-link flexible robot arms
Author :
Tornambè, Antonio
Author_Institution :
Dipartimento di Ingegneria Elettronica, Roma Univ., Italy
Abstract :
Deals with the inverse dynamic problem, for robotic manipulators having elastic links, for the case of unstable internal dynamics. An asymptotic inverse dynamic problem is introduced, and a procedure for its solution is presented. The theory is presented with reference to single-link manipulators.<>
Keywords :
dynamics; manipulators; asymptotic inverse dynamic problem; elastic links; robotic manipulators; single-link flexible robot arms; single-link manipulators; unstable internal dynamics; Art; Elasticity; Equations; Gravity; Kinetic theory; Manipulator dynamics; Mechanical systems; Orbital robotics; Robot kinematics; Torque;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240471
