DocumentCode :
849340
Title :
Dynamics of nonrigid articulated robot linkages
Author :
Judd, Robert P. ; Falkenburg, Donald R.
Author_Institution :
Oakland University, Rochester, MI, USA
Volume :
30
Issue :
5
fYear :
1985
fDate :
5/1/1985 12:00:00 AM
Firstpage :
499
Lastpage :
502
Abstract :
This paper presents the kinematic and dynamic analysis of an 
-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.
-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.Keywords :
Flexible structures; Manipulator dynamics; Automatic control; Control systems; Couplings; Kinematics; Linear systems; Manipulator dynamics; Performance analysis; Robotics and automation; Robots; Transient response;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/TAC.1985.1103978
Filename :
1103978
Link To Document :
