Modeling Robot Flexibility for Endpoint Force Control
Dynamic models have been developed in an attempt to match the response of a robot arm. The experimental data show rigid-body and five resonant modes. The frequency response and pole-zero arrays for various models of structural flexibility are compared with the data to evaluate the characterist...
Main Authors: | Eppinger, Steven D., Seering, Warren P. |
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Language: | en_US |
Published: |
2004
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Subjects: | |
Online Access: | http://hdl.handle.net/1721.1/6037 |
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