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Determination of elastodynamic errors in joints of industrial robots
Ilija Nikolić
Journal:

Robotica / Volume 6 / Issue 3 / July 1988

Published online by Cambridge University Press:

09 March 2009, pp. 213-219
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This paper presents a method for automatic forming and solving dynamic equations of motion of manipulator with elastic joints and rigid segments. For the minimal configuration of a cylindrical manipulator the numerical integration of these equations is performed, and vibrations in the joints are obtained as dynamic errors with respect to the prescribed trajectory.