Browsing Escuelas y Departamentos by Author "Jardón-Kojakhmetov, Hildeberto"
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Model reduction of a flexible-joint robot: a port-Hamiltonian approach
Jardón-Kojakhmetov, Hildeberto; Muñoz-Arias, Mauricio; Scherpen, Jacquelien (IFAC-PapersOnLine, 2016)In this paper we explore the methodology of model order reduction based on singular perturbations for a flexible-joint robot within the port-Hamiltonian framework. We show that a flexible-joint robot has a port-Hamiltonian ...