Title :
Modeling of mechanical systems with lumped elasticity
Author :
Khalil, W. ; Gautier, M.
Author_Institution :
Inst. de Recherche en Cybern. de Nantes, France
Abstract :
Presents a method for the modeling of mechanical systems with lumped elasticity. The main applications of the method concern high speed machine tools and robots with elastic joints. The method can provide the kinematic and dynamic models of such systems. To achieve this goal we adapted some well known tools and notations which are widely used for rigid robots. The inverse dynamic model has to be redefined and developed
Keywords :
geometry; machine tools; matrix algebra; robot dynamics; robot kinematics; dynamic models; elastic joints; high speed machine tools; kinematic models; lumped elasticity; mechanical systems; Acceleration; Computational geometry; Elasticity; Fasteners; Inverse problems; Kinematics; Machine tools; Mechanical systems; Robots; Solid modeling;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.845349
