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Lagrange and Newton-Euler dynamic modeling of a gear-driven robot manipulator with inclusion of motor inertia effects.
Lorenzo Sciavicco
Bruno Siciliano
Luigi Villani
Published in:
Adv. Robotics (1995)
Keyphrases
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robot manipulators
trajectory planning
dynamic environments
inverse kinematics
force control
control of robot manipulators
control system
multi objective
differential equations
control scheme
end effector
joint space