Title :
An alternative method to formulate closed-form dynamics for elastic manipulators using symbolic process
Author_Institution :
Dept. of Mech. & Materials Eng., Wright State Univ., Dayton, OH, USA
Abstract :
An alternative symbolic method leading to closed-form formulation of the equations of motion for elastic manipulators is presented. The formalism is derived from the virtual work principle based on the assumed-mode method. The elastic members are treated as Euler-Bernoulli beams, and the rigid body dynamics is included and formulated separately. A symbolic model for an elastic manipulator with structural and joint flexibility is developed. Nonlinear and linearized equations are established and converted into Fortran code. Numerical simulation and a comparison of the results of nonlinear and linearized models are presented
Keywords :
control system analysis computing; dynamics; linearisation techniques; robots; symbol manipulation; Euler-Bernoulli beams; Fortran code; assumed-mode method; closed-form dynamics; control system analysis computing; elastic manipulators; joint flexibility; linearized models; motion equations; nonlinear models; rigid body dynamics; robots; symbolic model; virtual work principle; Computer errors; Control systems; Difference equations; Lagrangian functions; Manipulator dynamics; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131757
