Influence of Joint Stiffness and Motion Time on the Trajectories of Underactuated Robots
Underactuated robots have fewer actuators than degrees of freedom (DOF). Nonactuated joints can be equipped with torsional springs. Underactuated robots can be controlled in a point-to-point motion if they have a particular mass distribution that makes them differentially flat. The trajectory descri...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-06-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/13/12/6939 |