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Independent Joint Controllability of Manipulator System

  • P. Kiriazov
  • P. Marinov
Conference paper

Abstract

The central role in designing a manipulator with appropriate dynamic characteristics plays the inertial matrix. In general case, a weak condition on this matrix is imposed to provide independent joint controllability of the manipulator system. The condition we require is fulfilled for almost all kinds of nonredundant manipulators. The case of a planar manipulator with three revolute joints is considered as well.

Keywords

Planar Manipulator Revolute Joint Gear Ratio Inertia Matrix Bulgarian Academy 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 1989

Authors and Affiliations

  • P. Kiriazov
    • 1
  • P. Marinov
    • 1
  1. 1.Institute of Mechanics and BiomechanicsBulgarian Academy of SciencesSofiaBulgaria

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