Dynamics and vibration control of a flexible robotic arm

Author

Wehrli, E. ; Coiffet, P.

Author_Institution

Office Nat. d´´Etudes et de Recherches Aerospatiales, Chatillon, France

fYear

1991

fDate

19-22 June 1991

Firstpage

132

Abstract

The development of high speed and light weight manipulators for complex robotic assembly tasks and remotely operated space programs has motivated research work in the field of dynamic modeling and control. A kinematic and dynamic model of serial link manipulators with flexible links and joints has been developed. This model is based on a Lagrangian formation of the equations of motion with a minimal set of system variables. The flexibility is represented by decomposition of the deformations on modal basis for each of the links. Simulation results are presented for a 1 and 2 link planar arm.<>

Keywords

dynamics; manipulators; vibration control; Lagrangian formation; complex robotic assembly tasks; equations of motion; flexible robotic arm; kinematic; light weight manipulators; planar arm; remotely operated space programs; serial link manipulators; vibration control; Lagrangian functions; Lighting control; Manipulator dynamics; Motion control; Nonlinear equations; Open loop systems; Orbital robotics; Robot kinematics; Robotic assembly; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on

Conference_Location

Pisa, Italy

Print_ISBN

0-7803-0078-5

Type

conf

DOI

10.1109/ICAR.1991.240463

Filename

240463