This paper focuses on controlling the load-side acceleration (LSA) of a two-inertia system with the LSA. Here, an LSA control-based system on integral-proportional (I-P) drive-side velocity control is ...

This “centripetal” acceleration has a magnitude that increases with the angular velocity (ω) as well as the radius of the circular path (r).

Manipulators are subject to physical constraints at different levels, i.e., joint angle limits, joint velocity limits, and acceleration limits. Effective resolution of redundant manipulators with ...