Modeling of a flexible manipulator dynamics based upon Holzer\u27s model

科研費報告書収録論文(課題番号:07455416・基盤研究(B)(2)・H7～H9/研究代表者:内山, 勝/フレキシブル双腕ロボットの協調制御に関する研究

Force control of constrained flexible manipulators

科研費報告書収録論文(課題番号:07455416・基盤研究(B)(2)・H7～H9/研究代表者:内山, 勝/フレキシブル双腕ロボットの協調制御に関する研究

Drum Beating and a Martial Art Bojutsu Performed by a Humanoid Robot

Over the past few decades a considerable number of studies have been made on impact dynamics. Zheng and Hemami discussed a mathematical model of a robot that collides with an environment (Zheng & Hemami, 1985). When a robot arm fixed on the ground collides with a hard environment, the transition from the free space to constrained space may bring instabilit