Passivity analysis and modeling of robotic arms

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© 2014, IEEE Computer Society. All rights reserved. In this paper a modified Euler Lagrange method is introduced to obtain the mathematical model of robotics arms. The proposed method obtains the same mathematical model than others; however, it is different because it does not use the Jacobians, inertia tensors, or Christoffel symbols. Furthermore, the necessary and sufficient condition to guarantee the passivity of the robotics arms is presented.
Original languageAmerican English
Pages (from-to)1389-1397
Number of pages1249
JournalIEEE Latin America Transactions
StatePublished - 1 Dec 2014

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