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Examples

  • Rainer Palm
  • Hans Hellendoorn
  • Dimiter Driankov
Chapter

Abstract

Let the basic equation describing the motion of a robot arm be
$$ M\left( q \right) \cdot \ddot q + N\left( {q,\dot q} \right) = u, $$
(5.1)
where
  • q is a (k x 1) position vector,

  • \( \dot q \) is a (k × 1) velocity vector,

  • \( \ddot q \) is a (k × 1) acceleration vector,

  • M(q) is a (k × k) matrix of inertia (invertible)

  • N(q, \( \dot q \)) is a (k × 1) vector of damping, centrifugal, coriolis, gravitational forces,

  • u is a (k x 1) vector of generalized forces and torques.

Keywords

Membership Function Fuzzy Rule Gravitational Force Partial Compensation Fuzzy Region 
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 1997

Authors and Affiliations

  • Rainer Palm
    • 1
  • Hans Hellendoorn
    • 1
  • Dimiter Driankov
    • 2
  1. 1.Siemens AGMünchenGermany
  2. 2.University of LinköpingLinköpingSweden

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