OTHER
DYNAMIC MODELLING USING SCREW THEORY AND NONLINEAR SLIDING MODE CONTROL OF SERIAL ROBOT
Shiqiang Zhu, Qingcheng Chen, Xuanyin Wang, Songguo Liu
- Year
- 2016
- Citations
- 3
Abstract
This paper presents a novel method towards the dynamic modeling of serial robot by combining screw theory and Kane’s equations, which can simplify the dynamic analysis of the system, reduce the workload of calculation and make the process smooth.
Keywords
Computer scienceNonlinear systemProcess (computing)RobotControl theory (sociology)WorkloadScrew theoryControl engineeringSliding mode controlSerial manipulator
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