Title :
Lumped parameter dynamic modeling for the flexible manipulator
Author :
Xilun, Ding ; Selig, J.M.
Author_Institution :
Robotics Res. Inst., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
Holzer method is a very efficient lumped parameter dynamic modeling method for flexible manipulators. However, it does have some faults. An improved efficiency dynamic modeling method based on the Holzer method is proposed: This new method is called Ding-Holzer method, it is applied to the dynamic modeling of planar single arm, multiple link manipulators and the arm with spatial compliance, respectively. A sequence comparative study and theoretical analysis convince the improved method.
Keywords :
flexible manipulators; manipulator dynamics; modelling; Ding-Holzer method; flexible manipulator modeling; lumped parameter dynamic modeling; multiple link manipulators; planar single arm modeling; Aerodynamics; Distributed parameter systems; Finite element methods; Joining processes; Length measurement; Manipulator dynamics; Metalworking machines; Modeling; Moment methods; Robots;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1340574
