Dynamic formulation and inertia fast estimation of a 5-DOF hybrid robot
Abstract As the main driving mechanism of a hybrid robot, the parallel mechanism is a nonlinear time-varying system. The load inertia of its actuated joints changes with the configuration of the robot. Analyzing and fitting the inertia variation is of great significance to the design and control of...
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| Hauptverfasser: | , , , |
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| Format: | Artigo |
| Sprache: | Inglês |
| Veröffentlicht: |
Nature Portfolio
2024-07-01
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| Schriftenreihe: | Scientific Reports |
| Schlagworte: | |
| Online-Zugang: | https://doi.org/10.1038/s41598-024-68408-5 |
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