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Description - Flexible Joint Robots by Mark C. Readman

Performance of robots can be improved by taking into account the fast dynamics that are introduced by joint flexibility. High gain acceleration feedback from the link angles simplifies the robot dynamics, but is limited to joint flexibility. One solution is to use joint torque feedback to stabilize the fast dynamics. In light of this, drive systems that incorporate joint torque sensors are being developed. This is a book that considers the myriad problems and potential solutions that affect flexible joint robot design. The book covers fundamental concepts, including joint torque feedback control laws, accelerate joint feedback, and adaptive control laws. It presents a dynamic model of a flexible joint robot in several co-ordinate systems and includes an analysis of the fast dynamics.

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