Steady State of a Three Degrees of Freedom Stanford: A Bond Graph Approach

Gilberto González Avalos and Thor Morales Bieze


Bond graph, Steady state, PUMA manipulator


The steady state response of a class of nonlinear system modelled by a bond graph is presented. The robots in three dimensions represented in bond graphs are described. A bond graph in a derivative causality assignment to get the steady state response is proposed. Finally, the proposed methodology to PUMA and Stanford manipulators in the physical domain is applied.

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