DocumentCode
2390110
Title
Modelling and experimental validation of two-dimensional transverse vibrations in a flexible robot link
Author
Baungaard, Jens Rane ; Sorensen, Paul Haase
Author_Institution
Inst. of Autom., Tech. Univ., Lyngby, Denmark
fYear
1996
fDate
15-18 Sep 1996
Firstpage
942
Lastpage
947
Abstract
A general model for a rotating homogenous flexible robot link is developed. The model describes two-dimensional transverse vibrations induced by the actuator due to misalignment of the actuator axis of rotation relative to the link symmetry axis and due to translational acceleration of the link. The model is validated experimentally
Keywords
flexible structures; partial differential equations; robot dynamics; actuator axis of rotation; link symmetry axis; rotating homogenous flexible robot link; translational acceleration; two-dimensional transverse vibrations; Acceleration; Actuators; Manipulators; Mathematical model; Payloads; Robotics and automation; Robots; Shafts; Vibrations; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1996., Proceedings of the 1996 IEEE International Conference on
Conference_Location
Dearborn, MI
Print_ISBN
0-7803-2975-9
Type
conf
DOI
10.1109/CCA.1996.559017
Filename
559017
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