Development and Control of a 5-Axis Reconfigurable Machine Tool

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="583072.fig.005a" src="https://static.hindawi.com/articles/jr/volume-2011/583072/figures/583072.fig.005a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Displacements of actuated joints</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="583072.fig.005b" src="https://static.hindawi.com/articles/jr/volume-2011/583072/figures/583072.fig.005b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Forces of actuated joints</td></tr></table></td></tr></table>

<table>Estimation of driving forces based on a dynamic model.</table>

Journal of Robotics

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Figure 5

Figure 5: Development and Control of a 5-Axis Reconfigurable Machine Tool 