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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031002.
Paper No: JMR-22-1261
Published Online: January 25, 2023
Journal Articles
Accepted Manuscript
Journal:
Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1250
Published Online: January 25, 2023
Journal Articles
Accepted Manuscript
Journal:
Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1450
Published Online: January 25, 2023
Journal Articles
Accepted Manuscript
Journal:
Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1232
Published Online: January 25, 2023
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 1 Block diagram of the method for computing the feedforward force More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 2 Sketch of the linear vibratory feeder More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 3 ( a ) Internal dynamics poles of the vibratory feeder system and ( b ) detail about the imaginary axis More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 4 Stability analysis by considering different values of α More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 5 Computed forces More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 6 Tracking responses (on the left) and related tracking errors (on the right) More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 7 Sketch of the overhead cartesian crane More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 8 Reference tracking responses (on the left), and related tracking errors (on the right) More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 9 ( a ) Path-tracking response and ( b ) related contour error More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 10 Computed forces More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 11 Comparison of ( a ) the tracking and ( b ) contour errors sported by the proposed method and benchmark [ 20 ] More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 12 The flexible robotic arm: ( a ) picture of the experimental setup and ( b ) model definitions More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 13 Internal dynamics poles of the flexible robotic arm, with different choices of Γ ~ U More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 14 Feedforward motor torques with different opening angles: ( a ) 30 deg and ( b ) 50 deg More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 15 Numerical trajectory tracking responses with their relative tracking errors with different opening angles: ( a ), ( c ) 30 deg and ( b ), ( d ) 50 deg More
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in Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
> Journal of Mechanisms and Robotics
Published Online: January 25, 2023
Fig. 16 Comparison of the tracking errors of the proposed method and the two benchmarks, with different opening angles: ( a ), ( c ) 30 deg and ( b ), ( d ) 50 deg More
