Modeling a Robot with Flexible Joints and Decoupling its Equations of Motion
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Abstract
Recently a method has been developed to decouple the equations of motion for multi-rigid body systems. In this paper, the method is first studied, then the equations of motion for a planar two degree-of-freedom robot with flexible joints are carried out using Lagaranges equations and Kanes equation with congruency transformations. Finally, the results obtained from both methods are throroughly compared.
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