Title :
Dynamic modelling of flexible robot manipulators
Author :
Nicosia, S. ; Tomei, P. ; Tornambe, A.
Author_Institution :
Second University of Rome
Abstract :
The problem of modeling flexible robots is considered. The dynamic model is obtained by using a generalized Lagrangian approach and by expanding in a limited number of terms the function describing the exact shape of bended beams constituting the robot. General properties of the models, as controllability, are then investigated. To manipulate the cumbersome formulae the SAM language MACSYMA has been extensively used.
Keywords :
Control nonlinearities; Control systems; Electrical equipment industry; Manipulator dynamics; Mechanical systems; Motion control; Orbital robotics; Service robots; Stability; State-space methods;
Conference_Titel :
Robotics and Automation. Proceedings. 1986 IEEE International Conference on
DOI :
10.1109/ROBOT.1986.1087630
