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This paper describes a novel method for the identification of time-varying ankle joint dynamic stiffness during large passive movements. The method estimates a linear parameter varying parallel-cascade (LPV-PC) model of joint stiffness consisting of two pathways: (a) an LPV impulse response function (IRF) for intrinsic mechanics and (b) an LPV Hammerstein cascade with time-varying static nonlinearity...
A Furuta pendulum is a two degrees-of-freedom mechanism consisting of an arm rotating in the horizontal plane and a pendulum rotating in the vertical plane. The pendulum is attached to the arm tip. The complexity in the control of this system relies on that only the arm is actuated. The problem addressed in this paper consists in the design of a controller such that the difference between the desired...
This brief deals with the identification of industrial robots. The usual identification method is based on the use of the inverse dynamic identification model and the least-squares technique. Another approach is the direct and inverse dynamic identification models (DIDIM) method, which is a closed-loop output error (CLOE) method minimizing the quadratic error between the actual and simulated joint...
In this paper, we propose the motion planning of redundant manipulators for speeding-up the hand constant speed tasks. The hand trajectory is given from vector function and its time-differentials. We consider the configuration-space that represent the distance on the hand trajectory and redundancy of the redundant manipulator. The redundancy is hand orientation, redundant angle velocity and redundant...
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