| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 5026622 | Procedia Engineering | 2017 | 7 Pages |
Abstract
The mathematical model of the manipulator with flexible joints is investigated under the condition of weak dissipation. The method of asymptotic decomposition is used to reduce dimension and to simplify the structure of the model. The decoupling coordinate transformation is constructed as an asymptotic series. It converts original multirate system to block triangular form with independent slow subsystem.
Related Topics
Physical Sciences and Engineering
Engineering
Engineering (General)
Authors
Nataliya Voropaeva,