The precise control of a manipulator depends on its velocity as well as on its configuration and dynamic properties. This paper presents some observations that can serve as a useful tool for identifying nonlinear ear effects in a manipulator. The tool is based on equations of motion being expressed in terms of inertial quasi-velocities (IQVs). They are rates containing both kinematic and mechanical parameters of the system. The presented approach gives a further insight into the manipulator motion. An analytical example shows the proposed strategy.
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.Copyright © 2006
by American Society of Mechanical Engineers
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