Article révisé par les pairs
| Résumé : | The proposed method considers flexibility of the structure located in the transmission units between the motors and the corresponding arms. The reference trajectories are expressed in terms of relative angular position of successive arms and not in terms of the classical motor shaft angular position. The dynamic model is obtained with a new algorithm which presents the same recursive properties as the classical Newton-Euler algorithm. The dynamic model for this type of structure presents inertial coupling terms between arm joint variables and motor joints variables. This effect is usually ignored in classical developments. Flexibility out of the joints are considered in the modelling process. |
