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Erschienen in:
1996 | OriginalPaper | Buchkapitel
Dynamics and Control of Elastic Joint Robots on a Group Configurational Manifold
verfasst von : Clementina D. Mladenova
Erschienen in: Recent Advances in Robot Kinematics
Verlag: Springer Netherlands
Enthalten in: Professional Book Archive
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The present paper treats the problems of modeling and control of manipulators with elastic joints in terms of vector-parametrization of the SO(3) group. Since the computational effectiveness of the vector-parameter approach increases with the increasing number of the revolute degrees of freedom, this fact is successfully used in the problems of elastic joint manipulators, where except the real n links, n fictious links are included as well as additional n revolute degrees of freedom. A dynamic model in “pure” vector-parameter form is developed and the inverse dynamic control is discussed.