Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator.
Mohsen ShahinpoorAli MeghdariPublished in: Robotica (1986)
Keyphrases
- robot manipulators
- finite element model
- pid controller
- control of robot manipulators
- force control
- experimental data
- position control
- control scheme
- inverse kinematics
- trajectory planning
- finite element
- dynamic model
- boundary conditions
- control system
- wave propagation
- finite element analysis
- finite element method
- end effector
- degrees of freedom
- closed loop
- real time
- computational intelligence
- clustering algorithm
- material properties
- objective function
- particle swarm optimization