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
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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