Title :
Exact modeling of the flexible slewing link
Author :
Bellezza, F. ; Lanari, L. ; Ulivi, G.
Author_Institution :
Dipartimento di Inf. e Sistemistica, Roma Univ., Italy
Abstract :
The exact eigenfunctions for the slewing link of a robot are found, taking into account a rotating inertia at the base and a payload at the tip. These derive from two equivalent formulations (pseudoclamped and pseudopinned) of the boundary value problem relative to the flexible slewing beam. The exactness of the solution makes it possible to prove the equivalence of these two approaches, which differ in the choice of the noninertial rotating frame. The two related dynamic linear models are then found, and a change of coordinates is given. Experimental measurements validate the theoretical results
Keywords :
boundary-value problems; distributed parameter systems; eigenvalues and eigenfunctions; large-scale systems; robots; boundary value problem; exact eigenfunctions; exact modeling; flexible robot arms; flexible slewing link; noninertial rotating frame; payload; pseudoclamped formulation; pseudopinned formulation; rotating inertia; slewing beam; Boundary value problems; Differential equations; Eigenvalues and eigenfunctions; Finite element methods; Manipulators; Partial differential equations; Payloads; Polynomials; Prototypes; Robot kinematics;
Conference_Titel :
Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Conference_Location :
Cincinnati, OH
Print_ISBN :
0-8186-9061-5
DOI :
10.1109/ROBOT.1990.126073
