Flexible joint robots

著者

• Readman, Mark C.

書誌事項

Flexible joint robots

Mark C. Readman

（Mechatronics series）

CRC Press, c1994

注記

Includes bibliographical references (p. 125-134) and index

内容説明・目次

内容説明

Joint flexibility from harmonic or direct drives or flexible couplings limits the performance of robots. Performance can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited by joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. Flexible Joint Robots is the first book to consider the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, acceleration feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several coordinate systems and includes an analysis of the fast dynamics.

目次

Introduction. Models. Joint Torque Models. The Fast Dynamics. Joint Torque Feedback. Acceleration Control. Robust Control. Adaptive Control. Conclusions. Simulation. Index.

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詳細情報

• NII書誌ID(NCID): BA23822680
• ISBN:
  • 084932601X
• LCCN: 94016951
• 出版国コード: us
• タイトル言語コード: eng
• 本文言語コード: eng
• 出版地: Boca Raton [Fla.]
• ページ数/冊数: xi, 145 p.
• 大きさ: 24 cm
• 分類:
  • LCC : TJ211.4
  • DC20 : 629.8/92
• 件名:
  • LCSH : Robots -- Dynamics
• 親書誌ID:
  • BA23822771