Title :
Computer simulation of elastic chains using a recursive formulation
Author :
Sharf, I. ; D´Eleuterio, G.M.T.
Author_Institution :
Inst. for Aerosp. Studies, Toronto Univ., Downsview, Ont., Canada
Abstract :
A computer simulation procedure for the dynamics of topological chains, using a recursive Newton-Euler formulation, is presented. The bodies of the chain are, in general, elastic and the joints can permit arbitrary (rotational and/or translational) interbody motion. Relative interbody translation, however, is assumed small. As an example, a three-link quasianthropomorphic flexible-link manipulator is studied. The simulation results underscore the importance of modeling structural flexibility
Keywords :
digital simulation; mechanical engineering computing; robots; topology; computer simulation; elastic chains; flexible-link manipulator; recursive Newton-Euler formulation; relative interbody translation; robotics; structural flexibility; Computational modeling; Computer simulation; Elasticity; Equations; Manipulator dynamics; Orbital robotics; Robot kinematics; Service robots; Space shuttles; Space stations;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12285
