Dynamics and control of space robot considering joint friction

It is well known that friction is an inevitable phenomenon existing in almost all mechanical systems including robotic systems. It can affect dynamic characteristics of mechanical systems and even harm accuracy of manual control. In this paper, we have conducted comprehensive study in detail on dyna...

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Bibliographic Details
Published in:	Acta astronautica Vol. 111; pp. 1 - 18
Main Authors:	Liu, Xiao-Feng, Li, Hai-Quan, Chen, Yi-Jun, Cai, Guo-Ping
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.06.2015
Subjects:	Active control Computer simulation Dynamical systems Dynamics Friction Joint friction Jourdain׳s velocity variation principle Mathematical models Mechanical systems Space robot Space robots Tracking Space robot Jourdain׳s velocity variation principle Active control Joint friction
ISSN:	0094-5765, 1879-2030
Online Access:	Get full text
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