• DocumentCode
    3338952
  • Title

    Asymptotic inverse dynamics of single-link flexible robot arms

  • Author

    Tornambè, Antonio

  • Author_Institution
    Dipartimento di Ingegneria Elettronica, Roma Univ., Italy
  • fYear
    1991
  • fDate
    19-22 June 1991
  • Firstpage
    84
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • 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
  • Type

    conf

  • DOI
    10.1109/ICAR.1991.240471
  • Filename
    240471
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3338952