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Journal of Automation and Information Sciences

Publicado 12 números por año

ISSN Imprimir: 1064-2315

ISSN En Línea: 2163-9337

SJR: 0.173 SNIP: 0.588 CiteScore™:: 2

Indexed in

Control of Spatial Motions of Robot-Manipulator with Flexible Links of Arbitrary Shape

Volumen 37, Edición 4, 2005, pp. 58-65
DOI: 10.1615/J Automat Inf Scien.v37.i4.80
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SINOPSIS

We investigate influence of flexibility of links of arbitrary shape of controlled manipulator mechanism of the consecutive hinged-rod structure on precision of its positioning. We conduct comparative analysis of two equivalent mathematical models of dynamics of this manipulator with rigid and flexible links. Solution of the problem of kinematic control of flexible and rigid robots, which links are realized as truncated cones of ring cross-section, is adduced as an example.

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