Building dynamic equations of manipulator with flexible links
نویسندگان
چکیده
منابع مشابه
Dynamic modelling, simulation and control of a manipulator with flexible links and joints
The paper presents a dynamic modelling technique for a manipulator with multiple flexible links and flexible joints, based on a combined Euler–Lagrange formulation and assumed modes method. The resulting generalised model is validated through computer simulations by considering a simplified case study of a two-link flexible manipulator with joint elasticity. Controlling such a manipulator is mo...
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In this article, a new systematic method for deriving the dynamic equations of motion for exible robotic manipulators is developed by using the Gibbs-Appell assumed modes method. The proposed method can be applied to the dynamic simulation and control system design of exible robotic manipulators. In the proposed method, the link de ection is described by a truncated modal expansion. All the mat...
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This work treats the problem of dynamic modeling and state space approximation for robotic manipulators with flexibility. Case studies are planar manipulators with a single flexible link together with clamped-free ends and tip mass conditions. In this paper, complete dynamic modeling of the flexible beam without premature linearization in the formulation of the dynamics equations is developed, ...
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ژورنال
عنوان ژورنال: Science and Technology Development Journal
سال: 2017
ISSN: 1859-0128,1859-0128
DOI: 10.32508/stdj.v20ik1.409