Coordinating Control of a Special Joint Structure with More Servos than Degrees of Freedom
A joint mechanism for use as a general building block in manipulators with a very high number of degrees of freedom is introduced. It consists of 3 servos driving a 2 d.o.f. universal joint by means of wire. A coordinate transformation set is developed, which includes positional, velocity and force...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
1987-07-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/1987/MIC-1987-3-5.pdf |