Singular perturbation model of robots with elastic joints and elastic links constrained by rigid environment

DOI10.1023/A:1007980617248zbMath0914.93042OpenAlexW1555610325MaRDI QIDQ1264556

Paolo Rocco

Publication date: 26 November 1998

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1023/a:1007980617248

zbMATH Keywords

modellingsingular perturbationcontactflexible jointsrobotic manipulatorsflexible linksstiff environment

Mathematics Subject Classification ID

Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85) Kinematics of mechanisms and robots (70B15)

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