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Elastic joints

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Theory of Robot Control

Part of the book series: Communications and Control Engineering ((CCE))

Abstract

This chapter deals with modelling and control of robot manipulators with joint flexibility. The presence of such a flexibility is a common aspect in many current industrial robots. When motion transmission elements such as harmonic drives, transmission belts and long shafts are used, a dynamic time-varying displacement is introduced between the position of the driving actuator and that of the driven link.

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Authors
  1. A. De Luca
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  2. P. Tomei
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Editor information

Editors and Affiliations

  1. Laboratoire d’Automatique de Grenoble, École Nationale Supérieure d’Ingénieurs Electriciens de Grenoble, Rue de la Houille Blanche, Domaine Universitaire, 38402, Saint-Martin-d’Hères, France

    Carlos Canudas de Wit PhD

  2. Dipartimento di Informatica e Sistemistica, Università degli Studi di Napoli Federico II, Via Claudio 21, 80125, Napoli, Italy

    Bruno Siciliano PhD

  3. Centre d’Ingénierie des Systèmes, d’Automatique et de Mécanique Appliquée, Université Catholique de Louvain, 4 Avenue G. Lemaître, 1348, Louvain-la-Neuve, Belgium

    Georges Bastin PhD

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© 1996 Springer-Verlag London Limited

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De Luca, A., Tomei, P. (1996). Elastic joints. In: de Wit, C.C., Siciliano, B., Bastin, G. (eds) Theory of Robot Control. Communications and Control Engineering. Springer, London. https://doi.org/10.1007/978-1-4471-1501-4_5

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  • DOI: https://doi.org/10.1007/978-1-4471-1501-4_5

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  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1503-8

  • Online ISBN: 978-1-4471-1501-4

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