Real-time compensation of static deflections in robotic manipulators
The focus of this work is the real-time prediction and compensation of static deflections in robotic manipulator arms. A general manipulator deflection model is developed based on static beam theory and robot kinematics. An optimization technique is proposed to determine the stiffness of the manipul...
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| Format: | Others |
| Language: | en |
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Virginia Tech
2014
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| Online Access: | http://hdl.handle.net/10919/46156 http://scholar.lib.vt.edu/theses/available/etd-12052009-020254/ |