Section 3

You have free access to this content

Modelling and Mechanical Design of Underactuated Robot Manipulators with Impact and Friction

  1. Tobias Welge-Luessen*

Article first published online: 24 NOV 2004

DOI: 10.1002/pamm.200410069

Issue

PAMM

PAMM

Volume 4, Issue 1, pages 175–176, December 2004

Additional Information

How to Cite

Welge-Luessen, T. (2004), Modelling and Mechanical Design of Underactuated Robot Manipulators with Impact and Friction. Proc. Appl. Math. Mech., 4: 175–176. doi: 10.1002/pamm.200410069

Author Information

  1. ETH Center, CLA G23.2, CH-8092 Zuerich, Switzerland

*Phone: +41 1 63 23571, Fax: +41 1 63 21145

Publication History

  1. Issue published online: 24 NOV 2004
  2. Article first published online: 24 NOV 2004

SEARCH

SEARCH BY CITATION

ARTICLE TOOLS

Get PDF (333K)

Abstract

This paper provides a theoretical approach for describing underactuated mechanical systems and conceptual ideas for the design of an underactuated robot manipulator. The mathematical description uses the Linear Complementarity Problem (LCP) formulation in order to handle the equations of motion with inequality constraints. The robot manipulator serves later on as an experimental platform for the verification of control strategies of underactuated systems and the exploration of underactuated walking patterns. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

Get PDF (333K)