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Elastic Robot Joints

Elastic Robot Joints Advanced Modeling and Control

1st edition

Hardback (05 Jan 2026)

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Publisher's Synopsis

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.

Book information

ISBN: 9781498716574
Publisher: CRC Press
Imprint: CRC Press
Pub date:
Edition: 1st edition
Language: English
Number of pages: 224
Weight: -1g
Height: 234mm
Width: 156mm