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Author Aghili, F. ♦ Buehler, M. ♦ Hollerbach, J. M.
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Closed Form ♦ Linear Dynamic ♦ Robot Configuration ♦ Positive Joint Torque Feedback ♦ Motion Control Law ♦ System Dynamic ♦ Robot Link Dynamic ♦ Direct-drive Robot ♦ Direct Drive Robot
Description In Proc. IEEE Int. Conf. Robotics and Automation
This paper addresses the dynamics and control of direct drive robots with positive joint torque feedback. We analytically derive the system dynamics in closed form. Even though it is coupled and nonlinear in general, it is substantially simpler than the robot link dynamics. We also derive conditions on the robot configuration which result in linear dynamics. Motion control laws for both cases are proposed.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 1997-01-01