Mechanism and Machine Theory vol:28 issue:6 pages:751-762
Due to drawbacks of the continuous-time previous terminverse dynamicsnext term for previous termrobots with flexible joints,next term discussed in the paper, a new discrete-time approach to the problem is presented. After discussion, a numerical approach for the solution of the index three systems of differential-algebraic equations is adopted to solve the previous terminverse dynamicsnext term problem. The satisfactory results show that the method can be used to off-line determination of nominal previous termcontrolnext term inputs and previous termjointnext term trajectories. Next, a discrete-time previous termcontrolnext term method is developed and a realistic previous termcontrolnext term scheme is analysed. The implications of the results for the previous termcontrol of robotsnext term are discussed. The proposed previous termcontrolnext term method is computationally efficient and admits low sampling frequencies. The results of extensive numerical experiments confirm the advantages of the designed previous termcontrolnext term algorithm.