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🔗 Source: jmacheng.not.pl
📊 Size: 909 KB
👤 Author: ANIA
⬇️ Downloads: 45

Summary

The article discusses a model for a robotic system, focusing on the relationship between joint angles, torques, and external forces. The equation τ = M(q)q̈ + C(q,q̇)q̇ + G(q) + τf(q̇) + J(q)TW represents the dynamics, where τ is the torque, M(q) is the inertia term, C(q,q̇) is the Coriolis and centripetal term, G(q) is the gravitation term, τf(q̇) is the friction term, and J(q)TW is the external force-torque term. The friction term is further broken down into τf(q̇,L,T) = τl(L) + τs(q̇) + τv(q̇,T) + τc. A Gaussian process regression model is used to estimate the relationship between the target pose and the actual pose, with the joint stiffness model and kinematics model also being considered.

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Description

The article discusses a model for a robotic system, focusing on the relationship between joint angles, torques, and external forces.

Technical Information

  • File Format: PDF
  • File Size: 909 KB
  • Pages: 13
  • Language: EN
  • Author: ANIA
  • Total Downloads: 45
  • Last Updated: 7 months ago

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