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Viser: Elastic Robot Joints - Advanced Modeling and Control
Elastic Robot Joints
Advanced Modeling and Control
Michael Ruderman
(2023)
Sprog: Engelsk
Detaljer om varen
- Hardback: 224 sider
- Udgiver: Taylor & Francis Group (December 2023)
- ISBN: 9781498716574
This book focuses on the modeling and control of elastic robot joints for which each axis of the robotic manipulator is controlled as a single-input-single-output (SISO) system with disturbances, otherwise known as independent joint control. It also shows how to account for joint elasticities in a centralized controller when treating the robotic manipulator as a coupled multiple-input-multiple-output (MIMO) system. The book analyzes modeling and control solutions, supported by specially elaborated simulation examples and an experimental case study.