Inverse Dynamics and Kinematics of Multi- Link Elastic Robots: An Iterative Frequency Domain Approach
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...An experimental validation, has been presented in reference [79], where the authors study a possible extension of this method to manipulators with closed-loop configurations....
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...(3), and following standard procedures for the formation and assemblage of element matrices (Bathe 1982), the equations of motion of the link may be expressed by a set of time-varying differential equations:...
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...This requires the numerical integration of a set of time-varying ODE for which techniques are readily available (Bathe 1982)....
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...link industrial robot has been proposed by Gebler (1987). Bayo (1987) introduced a method for the in-...
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