Elastic Robot Joints: Advanced Modeling and Control

By Michael Ruderman

Book Overview

This book focuses on the modeling and control of elastic robot joints for which each axis of the robotic manipulator is controlled as a single-input-single-output (SISO) system with disturbances, otherwise known as independent joint control. It also shows how to account for joint elasticities in a centralized controller when treating the robotic manipulator as a coupled multiple-input-multiple-output (MIMO) system. The book analyzes modeling and control solutions, supported by specially elaborated simulation examples and an experimental case study.

• Format: Paperback
• Language: English
• ISBN: 1138748617
• ISBN13: 9781138748613
• Release Date: January 2026
• Publisher: CRC Press
• Length: 224 Pages