Variable structure model of an articulated robotic arm

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© 2003-2012 IEEE. In this paper, a novel method for the structure variable modeling of a two links articulated robotic arm is considered. First, the dynamic model of the robotic arm is obtained. Second, two different equilibrium points yield two different models which are derived from the first model. The different models are presented in simulations.
Original languageAmerican English
Pages (from-to)3794-3802
Number of pages9
JournalIEEE Latin America Transactions
StatePublished - 1 Dec 2015


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