On the simplification of flexible arm dynamics and their solutions to the inverse dynamic problem.
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概要
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Inverse dynamics of n-joint planar flexible arms are investigated through the modeling, linearization and characterization of dynamic behavior. The inverse dynamic problem of the flexible arm is analyzed based on the simplified model. An efficient algorithm for computing the actuator torques that satisfy the simplified model exactly is then presented and applied to a two-link arm problem.
- 公益社団法人 計測自動制御学会の論文
公益社団法人 計測自動制御学会 | 論文
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