Dynamic Characteristics of Constrained Manipulators for Contact Force Control Design

@article{Latornell1998DynamicCO,
  title={Dynamic Characteristics of Constrained Manipulators for Contact Force Control Design},
  author={D. J. Latornell and D. B. Cherchas and R. Wong},
  journal={The International Journal of Robotics Research},
  year={1998},
  volume={17},
  pages={211 - 231}
}
  • D.J. Latornell, D.B. Cherchas, R. Wong
  • Published in I. J. Robotics Res. 1998
  • Mathematics, Computer Science
  • The International Journal of Robotics Research
  • The authors present the results of eigenstructure analyses of the dy namics of several manipulator and environment configurations and discuss the implications for successful force controller design. The manipulator configurations considered include single rigid link, sin gle flexible link, two rigid links, and two flexible links. In all cases, the tip of the manipulator is in contact with a deformable environ ment. Particular emphasis is placed on the interaction between the structural… CONTINUE READING

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