Modeling of a flexible manipulator dynamics based upon Holzer´s model

Author

Konno, Atsushi ; Uchiyama, Masaru

Author_Institution

Dept. of Mechano-Inf., Tokyo Univ., Japan

Volume

1

fYear

1996

fDate

4-8 Nov 1996

Firstpage

223

Abstract

An approach to modeling flexible manipulators consisting of rotary joints and flexible kinks is proposed. In the proposed approach, flexible manipulators are modeled by lumped-masses and massless springs on the basis of Holzer´s model, which is known as an approximate model for vibration analysis of flexible systems. Due to its simplicity, the constructed model is advantageous to the study of kinematics, dynamics and control strategy of complicated systems such as 3D multi-link multi-DOF flexible manipulators. Based on the model, dynamic equations of motion are derived using Lagrangean equation. Kinematics and the relationship between the dynamics of rigid manipulators and flexible manipulators are also discussed. The effectiveness of the model is evaluated by comparing the results of simulation with those of the experiment

Keywords

flexible structures; manipulator dynamics; manipulator kinematics; modelling; motion control; vibrations; Holzer model; Lagrangean equation; approximate model; dynamics; flexible manipulator; kinematics; lumped-masses; manipulator dynamics; massless springs; modeling; vibration analysis; Aerodynamics; Deformable models; Equations; Finite element methods; Flexible structures; Kinematics; Lagrangian functions; Manipulator dynamics; Performance analysis; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on

Conference_Location

Osaka

Print_ISBN

0-7803-3213-X

Type

conf

DOI

10.1109/IROS.1996.570675

Filename

570675