A general dynamic model of flexible robot arms for control

Author

Ding, X. ; Tarn, T.J. ; Bejczy, A.K.

Author_Institution

Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA

fYear

1989

Firstpage

1678

Abstract

Hamilton´s principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system

Keywords

dynamics; integral equations; multidimensional systems; nonlinear systems; partial differential equations; robots; Hamilton´s principle; dynamic boundary conditions; finite-dimensional system; flexible robot arms; general dynamic model; infinite-dimensional nonlinear dynamic system; partial differential-integral equations; Differential equations; Elasticity; Integral equations; Manipulators; Mathematical model; Mathematics; Propulsion; Robot control; Robot kinematics; Robot motion;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Conference_Location

Scottsdale, AZ

Print_ISBN

0-8186-1938-4

Type

conf

DOI

10.1109/ROBOT.1989.100217

Filename

100217