Title :
Dynamic characterisation of a flexible manipulator system: theory and experiments
Author :
Tokhi, M.O. ; Mohamed, Z. ; Amin, Shamsudin H M ; Mamat, R.
Author_Institution :
Dept. of Autom. Control & Syst. Eng., Sheffield Univ., UK
Abstract :
Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods incorporating structural damping. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig in the time and frequency domains
Keywords :
damping; finite element analysis; flexible manipulators; manipulator dynamics; constrained planar single-link flexible manipulator; dynamic characterisation; dynamic modelling; flexible manipulator system; structural damping; Actuators; Damping; Finite element methods; Frequency domain analysis; Manipulator dynamics; Mathematical model; Power system modeling; Robots; System testing; Systems engineering and theory;
Conference_Titel :
TENCON 2000. Proceedings
Conference_Location :
Kuala Lumpur
Print_ISBN :
0-7803-6355-8
DOI :
10.1109/TENCON.2000.892244
