An alternative method to formulate closed-form dynamics for elastic manipulators using symbolic process

Author

Lieh, Junghsen

Author_Institution

Dept. of Mech. & Materials Eng., Wright State Univ., Dayton, OH, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

2369

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131757

Filename

131757