52 research outputs found
Identifying the Independent Inertial Parameter Space of Robot Manipulators
This paper presents a new approach to the problem of finding the minimum number of inertial parameters of robot manipulator dynamic equations of motion. Based upon the energy difference equation, it is equally applica ble to serial link manipulators as well as graph structured manipulators. The method is conceptually simple, compu tationally efficient, and easy to implement. In particular, the manipulator kinematics and the joint positions and velocities are the only inputs to the algorithm. Applica tions to a serial link and a graph structured manipulator are illustrated.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/67982/2/10.1177_027836499101000606.pd
Experimental Evaluation of Nonlinear Feedback and Feedforward Control Schemes for Manipulators
Nonvisible Subthreshold Micropulse Diode Laser (810 nm) Treatment of Central Serous Chorioretinopathy: A Pilot Study
The Chimera II real-time operating system for advanced sensor-based control applications
Actinorhodin Production By Streptomyces coelicolor and Growth of Streptomyces lividans Are Improved by the Expression of a Bacterial Hemoglobin
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