Simulation and analysis of flexibly jointed manipulators

A Survey on the Control of Flexible Joint Robots

“…Two years later, the authors of [40] provided a precise model based on Lagrange dynamics without simplifying assumptions. At the same time, [41] employed Newtonian dynamics to generate a dynamical model. In this method, consideration of any coupling between link and motor, including backlash, hysteresis, nonlinear flexibility, etc.…”

Joint Torque Sensory in Robotics

“…It should be pointed out that essentially the joint torque measurement is possible if there is a small, but nonzero, joint deformation. A complete model of elastic-joint manipulators, which accounted for the dynamics of both the rotors of the drive system and the link system, were developed in (Murphy et al, 1990). These models were used by many researchers for development and analysis of non-adaptive (Spong, 1987;Tomei, 1991) and adaptive (Lozano and Brogliato, 1992) controllers for flexible joint manipulators.…”

An Epidemiological Study in Gujarat by Community Periodontal Index of Treatment Needs (Cpitn)

“…More recently, a detailed analysis of the model structure has been given in [5], where it was used for proving asymptotic stability of a simple regulation controller. In [6], the case of motors mounted on the driven links is considered. Finally, a reduced dynamic model has been introduced in [7], neglecting gyroscopic terms in the kinetic energy of the motors.…”