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The International Journal of Robotics Research
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Eigenfrequencies Invariance Property in One-Link Robotic Arm

Marc Rouff

Laboratoire de Génie Électrique de Paris, U.P.S. - C.N.R.S. - E.S.E., Plateau du Moulon - 91192 Gif sur Yvette, Cedex, France

Michel Cotsaftis

Laboratoire des Techniques Mécatronique et Électronique, École Centrale d’Électronique, 53 rue de Grenelle - 75007, Paris, France

In the study of eignefrequencies of robotic arms versus load, straightforward invariance property is singled out under a preload condition. We show that compliance does not affect this effect. This property opens the way to new robust and finite dimensional controllers.

Key Words: flexible arm • compliance • eigenfrequencies • infinite dimensional systems

The International Journal of Robotics Research, Vol. 19, No. 8, 780-783 (2000)
DOI: 10.1177/02783640022067166
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