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In this technical brief, the problem of modeling and tracking control for the manipulator with multi-revolute joints in random vibration environment is considered. By analyzing the effect of environment to the mass points and introducing an equivalent stochastic noise process, a stochastic Hamiltonian dynamic model is constructed to describe the motion of the manipulator. Based on the constructed...
This research focuses on the issue of dynamic modeling and controlling a robotic manipulator attached to a compliant base. Such a system is known under the name macro-micro system, characterized by the number of control actuators being less than the number of state variables. The motion of equations for a two-link planar elbow arm mounted on an oscillatory base has presented in this investigation...
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