DocumentCode
2537532
Title
Symbolic modeling of flexible manipulators
Author
Cetinkunt, Sabri ; Book, Wayne J.
Author_Institution
Georgia Institute of Technology, Atlanta, Georgia
Volume
4
fYear
1987
fDate
31837
Firstpage
2074
Lastpage
2080
Abstract
This paper presents a new systematic algorithm to symbolically derive the full nonlinear dynamic equations of motion of multi-link flexible manipulators. Lagrange´s-Assumed modes method is the basis of the new algorithm and adapted in a way suitable for symbolic manipulation by digital computers. It is applied to model a two-link flexible arm via a commercially available symbolic manipulation program. The advantages of the algorithm and simulation results are discussed.
Keywords
Actuators; Control systems; Couplings; Electrical equipment industry; Equations; Lagrangian functions; Manipulator dynamics; Nonlinear control systems; Productivity; Servomechanisms;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation. Proceedings. 1987 IEEE International Conference on
Type
conf
DOI
10.1109/ROBOT.1987.1087748
Filename
1087748
Link To Document