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Combined flexural-joint stiffness matrix and the elastic deformation of a servo-controlled two-link robot manipulator
Published online by Cambridge University Press: 09 March 2009
Abstract
An expression is derived for the combined flexural-joint stiffness matrix and the elastic deformation field of a servo-controlled two-link robot manipulator. Such expressions are needed in dealing with light weight high-speed flexible robot manipulators. The approach employs a strain energy invariance principle with respect to the elemental and the system reference coordinate frames to derive the desired 9 × 9 combined flexural joint stiffness matrix.
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