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Erschienen in:
2017 | OriginalPaper | Buchkapitel
Dynamics and Control
verfasst von : Peter Corke
Erschienen in: Robotics, Vision and Control
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In this chapter we consider the dynamics and control of a serial-link manipulator arm. The motion of the end-effector is the composition of the motion of each link, and the links are ultimately moved by forces and torques exerted by the joints. Section 9.1 describes the key elements of a robot joint control system that enables a single joint to follow a desired trajectory; and the challenges involved such as friction, gravity load and varying inertia.