Minimum-time-control of a Manipulator with Two Degrees of Freedom : Part 2, Dynamic Characteristics of Gear Train and Axes

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Equations of motion for a manipulator with two-degrees of freedom are derived in consideration of torsion of axes, gear tooth stiffness, backlash and characteristics of driving source. And, dynamic characteristics of the manipulator for a minimum-time-control are analyzed theoretically and investigated experimentally.

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  • Bulletin of JSME

    Bulletin of JSME 28 (239), 959-963, 1985

    一般社団法人 日本機械学会

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