Dynamic modeling of the 4 DoF BioRob series elastic robot arm for simulation and control

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Volumn 6472 LNAI, Issue , 2010, Pages 411-422

  Lens, Thomas ^a   Kunz, Jürgen ^a   Von Stryk, Oskar ^a  

^a DARMSTADT UNIVERSITY OF TECHNOLOGY   (Germany)

Author keywords

biologically inspired robotics; control; flexible joint robot; modeling; series elastic actuation

Indexed keywords

BIOLOGICALLY-INSPIRED ROBOTICS; CONTROLLER DESIGNS; DYNAMIC MODELING; ELASTIC ROBOT ARM; FLEXIBLE JOINT ROBOTS; GEAR MODELS; INVERSE DYNAMICS; KINEMATIC COUPLINGS; LIGHT WEIGHT; MODELING; NONLINEAR JOINTS; POSITION TRACKING CONTROLLERS; REAL-WORLD APPLICATION; ROBOT ARMS; SERIES ELASTIC ACTUATION; ELASTIC ACTUATORS; INVERSE DYNAMICS MODELS; SERIES ELASTIC ACTUATIONS;

CONTROLLERS; FLEXIBLE MANIPULATORS; MACHINE DESIGN; NONLINEAR EQUATIONS; ROBOTIC ARMS; ROBOTICS; CONTROL; INVERSE PROBLEMS; MODELS; ROBOTS;

ROBOT PROGRAMMING;

EID: 78650277596     PISSN: 03029743     EISSN: 16113349     Source Type: Book Series    
DOI: 10.1007/978-3-642-17319-6_38     Document Type: Conference Paper

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