DocumentCode
3127761
Title
Application of symbolic manipulation to the analysis of dynamic characteristics of a flexible robot manipulator
Author
Tokhi, M.O. ; Mohamed, Z. ; Hashim, A.W.I.
Author_Institution
Dept. of Autom. Control & Syst. Eng., Sheffield Univ., UK
fYear
1999
fDate
36312
Firstpage
42552
Lastpage
42556
Abstract
This paper presents an investigation into the analysis of dynamic behaviour of a flexible robot manipulator using a symbolic manipulation approach. A constrained planar single-link flexible manipulator is considered. The finite element method is used for dynamic modelling of the system. A symbolic algorithm is developed using Macsyma. A general solution describing the dynamic behaviour of the manipulator is obtained. The effect of physical parameters of the manipulator on the characteristics of the system and the impact of their variation on the minimum-phase features of the system are studied and assessed
Keywords
symbol manipulation; Macsyma; dynamic behaviour; dynamic characteristics; finite element method; flexible manipulator; flexible robot manipulator; minimum-phase features; physical parameters; symbolic manipulation;
fLanguage
English
Publisher
iet
Conference_Titel
Symbolic Computation for Control (Ref. No. 1999/088), IEE Colloquium on
Conference_Location
Birmingham
Type
conf
DOI
10.1049/ic:19990486
Filename
790370
Link To Document