A Recursive Dynamic Modeling and Control for Dual-arm Manipulator With Elastic Joints
A recursive dynamic modeling and control is presented for the dual-arm manipulator with elastic joints carrying a common object. For decoupling the effect of elastic joints, the dynamic modeling approach is based on the classic recursive Newton-Euler method but involves high-order derivatives of mot...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9173664/ |